Bringup - Bringup
The bringup launch file is used to start the robot with all required hardware and display it in the RViz2.
Examples
ros2 launch lgdxrobot2_bringup bringup_launch.py \
use_rviz:=True
Parameters
| Parameter | Type | Description |
|---|---|---|
| serial_port_name | string | Absolute path to the serial port device. |
| use_joy | bool | Whether to enable the joy. |
| use_lidar | bool | Whether to enable the LiDAR. |
| use_keyboard | bool | Control the robot using teleop_twist_keyboard. Start the node in another terminal to control the robot. |
| use_rviz | bool | Visualize in RViz. |
Mapping For Xbox Controller
| Button | Function |
|---|---|
| A | Disable software emergency stop |
| B | Enable software emergency stop |
| D-pad | Move the robot |
| LSB | Move the robot |
| LB | Reduce robot speed |
| RB | Increase robot speed |
| LT | Rotate the robot counter-clockwise |
| RT | Rotate the robot clockwise |