Previously, we saw how new ideas can represent a complete robot.
Now it's time to make some changes.
And to that and understand the concept of launch while shifting towards our next price controls should
fee to view the reward.
I have made a lot of changes in this reward and brought everything of this robot vs cost piece to the
origin point.
You can see everything is overlapping at the origin.
Why I have done this because I have to present you a basic concept about machines and we are dealing
with our vision of the machine.
So first we need to tell this package where you are.
You are going to be the meshes like the python files.
We told them this is the name of the executable in the setup.
We showed them how you can find the executable file and what functions do you execute.
Okay, but before that it was not working.
So similarly, we have to build a system.
Where are the measures and the you are different.
All extra things that we add in a package, there are those.
So for that we are going to give them the parts to those things.
Everything we put on call can make.
Every time you perform, all of the package files are going to be copied into the shared folder with
all cross.
Framework related, things are going to access them in the share fold.
So everything should be placed in the shared folder and I'm going to import some libraries.
Globe and West, which are very important when working with pots.
I have added this light which is going to get all of the things you are.
Do you fold it in Nigeria?
Fold.
It means dirt, water and everything inside of it, and copy it into the share folder of this package
name into a folder.
So if I open my home folder.
And in this home folder in the workspace I open install folder Nisbet and this share folder.
We're all of my things atleast related to me as currently you can see there is no UI package and meshes
folder that I have brought in here which contains all of the measures of my MES board, but they are
not available here although they are represented in the package.
And let me show you another thing, which is that.
Where are the.
Okay.
So in maze bought folder off installed you can find my publisher and subscribe.
So you see all of the files that are available in the -- folder in V, but we are interested in representing
this idea of animations and all.
You think that we will be created in the shade folder.
So now I have given the parts to my idea and I am going to again give support for another folder that
is meshes for that.
We're just going to bring this meshes and all files entered into a folder named as meshes.
So everything is going to be placed inside gopher cheer folder.
Let's open up a terminal and I'm going to go inside of workspace that is part planning workspace and
perform polygon build before pressing.
And it I want to show you the changes that are going to be made in this folder.
Bring it up.
Very.
So it is it has completed the building process and the watch that I provided for the undefined missions
folder.
It has brought it in the shared folder of all of our OSS packages.
Indexes them with the name of the package.
This might not be a good thing for you, but it is very important and very useful.
You will find it.
Now things have work for us.
We need to create a launch site to launch multiple nodes.
The concept of launch file that I assume that you might know by your own self is very interesting.
You can run multiple nodes with it.
I'm going to create a new folder named as nodes, obviously, that I'm going to create.
I was.
Dot launch dot by the Dodge Dart by is this an extension of the launch file for our base across to base
files and previously was just launch the process of creating this launch file is very different from
ROS one launch files.
So this you can see is the basic syntax of launch file.
There are certain things that might not be needed, but I'm going to utilize them.
The libraries and talking about we are going to include nodes inside of it to give you a better understanding.
And then example, I'm going to run multiple nodes inside of it so you can understand our package name
was MES, but.
And the executable name was.
Dr..
No.
Let's bring them side by side so we can understand.
Let's bring it here.
This one and this one here.
Oh no, it was fine.
Executable.
Docker node.
And the name is going to be a publisher.
This name is what we want to give it, and that's fine.
Let's create a copy of it and produce another one.
But this is going to be a subscriber load and it is going to be a listener.
So we have created a large file in which we have two nodes of our package.
What we are testing here is what is the purpose of launch by launch?
So I can run multiple nodes with this execution now rose to launch name of the package pressing David
automatically completes because we have not sourced our package.
So source let's bring it from the home for that.
But planning workspace I'm pressing David automatically compute then install and setup bash.
This line of code needs to be executed every time we open up.
I've come terminal to access this package.
Right.
Let me solve this issue by automatically sourcing it.
I'm going to press control.
It's in my home folder.
It is going to bring a lot of hidden funds.
I am going to go inside of my.
Vash RC file and please this source combine a.
After the sourcing of ROS to installation, so it automatically performs everything like it again did.
Is it?
Now, we would not be required to source again and again for our package.
Let's source it here.
Things up for us to launch.
And what is the name of the package raise?
I know it automatically completes our base by pressing dab and why?
It is largely because.
Our system do not contains the newly edited find we have to perform call convey to make this work.
For example, if we go inside of our parts planning install baseboard shared folder this board and where
is it?
There is no large file because we have not given the part of our launch folder inside of our set up
by config.
So I'm going to create it and write, not bring the launch folder as well into your order so we can
run it through.
The dominant next perform call control and see now we have the launch file and the our restored launch
file inside.
Now we can launch it to launch vs DAP automatically complete double tap to show all possible options.
And here we have it.
Pressing orange tab.
So dramatically complete.
Let's run it.
It is posting a lot of things.
Basically it is running the subscriber node and the publisher.
If you want to confirm it.
Ros, you or I could drop.
And it only represents the listener, by the way.
It is working on both of these nodes.
So the power of large file was to run multiple nodes by just running a single file.
We can have 100 nodes and we can execute them with the launch.
In this in this video, we just covered the launch files and the next video will launch at RS.
And take a look how our robot is going to be looking at it.