otto_bringup

Package for initializing robot hardware. Contains top level and sensor subsystem launch files for Otto.

Package File Tree:

otto_bringup/
├── config/
│   ├── lidar_config.yaml
│   └── xbox_controller.yaml
├── launch/
│   ├── controller.launch.py
│   ├── robot_cams.launch.py
│   ├── robot.launch.py
│   └── tim7xxS.launch.py
├── CMakeLists.txt
└── package.xml

Launch Files

Robot launch file: robot.launch.py

controller.launch.py

Allows for driving the robot with a game controller, does this by publishing messages to /cmd_vel

controller_name: 'xbox_controller.yaml' # name of the config file you want to use
joy_dev: 0 # Device and/or controller ID
publish_twist_stamped: true # Toggle for publishing Twist vs TwistStamped messages

robot_cams.launch.py

Launches all four USB cameras on Otto

Note: This is only used if the full robot is being brought up when launching robot.launch.py

robot.launch.py

The top level bringup launch file for Otto. Includes LiDAR, camera (optional), and ros2 controllers

cams: False # toggles camera bringup
lidar: True # toggles lidar bringup

tim7xxS.launch.py

A reworked version of SICK's launch file. Allows for passing parameters through a YAML config file.

side: 'right' # which side of the robot the lidar is located

see config/lidar_config.yaml for more parameters and options. look at the repository sick_scan_xd for the full set of available parameters.

Configuration Files

• lidar_config.yaml: parameters for tim7xxS.launch.py
• xbox_controller.yaml: parameters for controllers.launch.py

Links + Resources

• LiDAR driver repository: SICKAG/sick_scan_xd
• ROS Jazzy Documentation
• ROS 2 Launch docs