The bringup launch file is used to start the robot with all required hardware, the joy node, and display it in the RViz2 GUI.
Below is the mapping of the Xbox controller:
| 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 |
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. |