Now.
Now we are near to finish.
We have set up everything.
All right.
Now let's make it simple to run, because we run three commands in a separate terminal.
Now, we will do this by using just one launch file.
If I open the simplest, I have added these two dependencies.
It depends on the Microsoft agent and the Taleo twist.
And in the package dot XML, I have also added these lines and now we are going to create a launch file
in this folder.
The lion turtle underscore lounge dot pi.
So this is our file and we have to make it executable.
And now this is executable.
Come back.
And now we are going to write the description of the launch here.
I have used the Churchill and Churchill have written this launch file, which is very easy to understand.
Bestowed here.
As you can see, we used to run this command in terminal.
Okay.
We are now using the execute process in which we are just writing the command and the inverted commas.
Ros to run microprocessor microprocessor in UDP port and then the number and the dev and then the IP
address.
This is how we used to write the command on the terminal.
Okay.
Now, in the launchpad we are writing the same thing.
This is very easy to understand.
Okay.
This is going to launch the Microsoft agent and this is going to launch the Italian twist and this one
will be planted.
Joy dot pi.
Okay, So save it.
Roth to launch.
This time it will be launch.
Lion.
Turtle.
Lion.
Turtle.
Turtle pie.
We are going to launch this now.
I will turn on my robot.
And it should be connected.
This is connected.
There is a joy and publishing the topic and there are two subscribers tell you to join out and the Lion
Turtle joined and they are further publishing the topic onto the lion Turtle Esp32.
Now if I try to run the robot, I can't easily do that.
And I will turn off both LEDs.
Turn on.
Right.
Left turn on.
Yes.
And I will also.
Operate the.
Server.
You can easily control it.
And.
And you can also find a link of the GitHub repo on which everything is explained.
This will be our main package line turtle and this is dependent on Microsoft agent and Taleo twist.
So you need to have this package in your PC in order to run this line.
Turtle package.
Turtle import is not needed.
You can even delete this.