05. Roslaunch
Roslaunch
The VM has been updated since producing this video. You should expect your build to be error-free. and absent the build errors the speaker addresses in the video.
roslaunch
allows you to do the following
- Launch ROS Master and multiple nodes with one simple command
- Set default parameters on the parameter server
- Automatically re-spawn processes that have died
To use
roslaunch
, you must first make sure that your workspace has been built, and sourced:
$ cd ~/catkin_ws
$ catkin_make
Once the workspace has been built, you can source it’s setup script:
$ source devel/setup.bash
With your workspace sourced you can now launch
simple_arm
:
$ roslaunch simple_arm robot_spawn.launch
And there you have it! Your very own two-degree-of-freedom arm in simulation!
Hint: To figure out why the arm is just swinging around loosely, check out the log messages in the ROS master console.
Degrees of Freedom