The bringup launch file is used to start the robot with all required hardware, the joy node, and display it in the RViz2 GUI.
ros2 launch lgdxrobot2_bringup bringup.launch.py
Using Other LiDAR Models (default is C1)
ros2 launch lgdxrobot2_bringup bringup.launch.py lidar_model:='a1'
Launch Without RealSense Camera
ros2 launch lgdxrobot2_bringup bringup.launch.py use_camera:=false
Launch Without JOY only
ros2 launch lgdxrobot2_bringup bringup.launch.py use_camera:=false use_lidar:=false
| 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. |
| lidar_model | string | RPLIDAR model name. |
| use_camera | bool | Whether to enable the camera. |
| use_rviz | bool | Visualize in RViz. |
| 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 |