In the previous video.
I am confident that you are now good with launch.
Right now it's time to start working with it and utilizing it in our daily projects.
We are going to be running iRobot with the help of a launch fight and the notice that we are required
to launch a robot.
For example, the first thing that I want to show you is our race, which is a very good software resource
to run.
I always do, and its node is our rescue.
We can run our ways with the help of X package, the way we ran publisher and subscribe.
But I'm going to write it inside of our launch launchpad.
And what else do we want to do?
From the previous courses, you might have come across these two things robot, state publisher and
a state publishers.
They are very essential.
If a robot only contains joints that are fixed.
We would not be requiring the joints to publish it.
And only robot street publisher is going to be enough.
But as are your idea for a robot if we take a look on the joints.
The Basslink is a fixed joint, but the wheels are not fixed joints.
They are continues joints.
The continuous joints basically means not just revalued joint.
They are continuous like they have no limits in their rotation.
If we had a revolution, there must be a limit from point where it is starting and it is going to end
in a revolution.
It continues.
There is no limit.
There are multiple types of joint, but we are using fixed and continuous.
The point is, our joints are not just fixed, continuous.
We need a joint state publisher as well and it is not a joint state publisher.
Simple.
It is a DUI.
And it is going to explain a lot of things for us.
Let's take a look.
I have saved it.
And there are two more lines I will explain you after I launch.
Our robot in this simulation with a large file.
There is one thing remaining that I will show you right now Ross to launch vs bot and our always.
What is going to happen.
It is going to start doing the things that we did in the previous video.
Why?
Because we have saved the changes in the file, but the package does not know what changes are made.
So we have to put all the very precious gold can build the new file.
The edited file is going to be saved inside of the sheer folder in firearm, the same launch file.
It is going to do different things.
The first thing is going to be.
Or whenever I wish to, but it is not.
And there comes a native which is back a joined state publisher.
July, not long.
Why I am sure you.
This is our robot name.
Our system does not contains this package, so we need to install it.
And in Linux things are very easy to install, which are public packages which are ubuntu supported
packages.
Sudo MP install ros.
The version of ros we are using that is foxy and the name of the package was Joint Stay Publisher G
White.
And if I w if I double damage is going to give me other options.
I'm going to install both of these packages.
Let's install them and I know they are installed.
So if I run the previous file again without doing any changes and things are now working, let's take
a look.
We have our global options in which we have a fixed frame.
If we are running raw always for the first time and not using any configuration file, things are going
to get like this, which does not tell us anything about our robot.
So let me give you a basic understanding of our is our robot name is me is bought the base link.
The first link that we will be using is base frame.
So fixed frame is going to be base footprint.
Okay.
Now it says there are certain errors that were gone because of fixing the correct big fixed frame.
Next thing we need to do is to add robot model.
We are going to add it and we are going to tell it.
What topic does it needs to get the robot that we have published?
And it is going to be robot description and control set to save database configuration.
So we don't need to add again and again.
You can see this is a robot.
Everything is at origin for some reason.
But the point here is, are you already a file is now represented in order of.
Okay.
There was one more thing here and it is publishing some states which I will show you in the next video
how we are going to utilize it.
But the point here is.
We have brought a robot not to a launch, but things are set.
Let's now bring in the steel files into.
The steel files.
The measures of armies bought into this idea the to get started on our robot.