robotont_support

A package for maintaining bring-up and configuration files

This package is used as a single entry point for starting background nodes on Robotont's on-board computer. The files are designed to be automatically launched from systemd services located in /lib/systemd/system/. You may also use the launchers in this package to manually bring up the nodes, however before doing so, make sure that Robotont's systemd services have been stopped.

robotont_bringup.launch

To use the full capability of the robot, run:

roslaunch robotont_support robotont_bringup.launch

This command will perform the following actions:

• start the robotont driver
• start the Realsense 3D camera driver
• serve the robotont web application
• load the robot description to the parameter server
• start the state publishers.

You can control whether the Realsense camera and the web application are started with the following arguments:

roslaunch robotont_support robotont_bringup.launch realsense:=false webapp:=false

cam_throttling.launch

This launch file uses throttling node from topic_tools package to create additional ..._throttled depth camera topics with slowed down publishing rates. Throttling becomes useful when trying to transfer image/depth streams to a remote computer in limited bandwitdh conditions. Use the cam_fps argument to set the desired publishing rate for the throttled topics.

roslaunch robotont_support cam_throttling.launch cam_fps:=5