Launch Files

A summary of the available launch files is provided in the following table:

Package	Launch file	Description
behaviour	behaviour.launch	Launches the walk and kick behaviour.
hand_shaking_demo	hand_shaking_demo.launch	Launches the hand shaking demonstration with the robot interface.
hand_shaking_demo	dummy_hand_shaking_demo.launch	Launches the hand shaking demonstration with the dummy interface.
launch	robot_common.launch	Not intended to be launched directly, but used by every other robot_* launch file.
sitting_demo	sitting_demo.launch	Launches the sitting demonstration with the robot interface.
sitting_demo	dummy_sitting_demo.launch	Launches the sitting demonstration with the dummy interface.
standing_demo	standing_demo.launch	Launches the standing demonstration with the robot interface.
standing_demo	dummy_standing_demo.launch	Launches the standing demonstration with the dummy interface.
launch	robot_common_vis.launch	Not intended to be launched directly, but used by robot_common.launch.
launch	robot_demo_*.launch	Launch files used by demo launch files to launch the robotcontrol node exactly as required for the specific demo.
launch	dummy_robot_*.launch	The same as robot_*.launch (below) only with the dummy interface instead of the robot interface.
launch	gazebo_robot_*.launch	The same as robot_*.launch (below) only with the gazebo interface instead of the robot interface.
launch	robot_calib.launch	Launches robotcontrol with the robot interface, zero init position, and no motion modules. This is intended for performing calibrations only.
launch	robot_game.launch	The default launch file for robotcontrol that is intended for playing games. The same as robot_standing_cap.launch, only with getup motions.
launch	robot_motion_test_*.launch	Launches robotcontrol with the correct state for the purpose of testing particular keyframe motions.
launch	robot_standing_cap.launch	Launches robotcontrol with the robot interface, standing init position, cap_gait gait and no getup motions. This is the recommended default.
launch	joy.launch	Launches the joystick hardware interface node.
launch	config_server.launch	Launches the configuration server. This is usually not called directly, but instead through a robot_* launch file.
launch	robot_param.launch	Not intended to be launched directly, but used by other launch files to configure the robot parameters.
launch	camera_calib.launch	Launches the camera distortion calibration procedure.
launch	dummy_camera_calib.launch	Launches the camera distortion calibration procedure, for use with a bag file.
launch	vision_module.launch	Launches the main vision module for robot soccer.
launch	trajectory_editor.launch	Launches the trajectory editor for editing keyframe motions.
launch	communication.launch	Launches the appropriate comxs*.launch launch file for network communications.
launch	comxs*.launch	Launches the required nimbro network sender and receiver nodes.
launch	visualization.launch	Launches an instance of RQT for visualization purposes (a robotcontrol instance should be running).
launch	visualization_bag.launch	Launches an instance of RQT for visualization of ROS bag data.
launch	visualization_bench.launch	Launches an instance of RQT for the bench visualization.
launch	visualization_standalone.launch	Launches an instance of RQT for visualization purposes (if no robotcontrol instance is running).
nimbro_op_gazebo	nimbro_op.launch	Launches gazebo with the nimbro_op world.
nimbro_op_model	model.launch	Loads the URDF model to the ROS parameter server.

A summary of additional nodes is provided in the following table:

Package	Node	Description
dynalib	dynatool	Launches dynatool for testing of arbitrary Dynamixel buses and devices.
rcup_game_controller	game_controller	Launch a node that handles communications from the RoboCup game controller.

Note that in general the function of the three buttons on the back of the robot from left to right is fade in/out, start/stop, and hardware reset. The two leftmost LEDs display RX/TX activity of the microcontroller to PC connection, the right RGB LED is green if the microcontroller is connected to the PC by USB and red otherwise, and the left RGB LED is a custom colour as specified by the currently running behaviours. The other LEDs are also available for custom use by behaviours.