• launch/demo.launch
  • • test_case [default: minimal]
    • debug [default: false]
• launch/rocon_master_with_roch.launch
• launch/app_manager_with_capabilities.launch
  • Roch Standalone with roch_capabilities
  • • robot_name [default: $(optenv ROBOT_NAME roch)]
    • robot_type [default: $(optenv ROBOT_TYPE roch)]
    • robot_icon [default: roch_base/roch_icon.png]
    • rapp_preferred_configuration_file [default: $(find rocon_app_manager)/param/preferred_default.yaml] — pointer to a yaml file listing preferred rapps
    • capabilities_parameters [default: $(find roch_capabilities)/param/defaults_roch_capabilities.yaml]
    • capabilities_server_name [default: capability_server]
    • capabilities_nodelet_manager_name [default: capability_server_nodelet_manager]
    • capabilities_package_whitelist [default: [roch_capabilities, std_capabilities, capabilities]]
    • capabilities_blacklist [default: ['std_capabilities/MultiEchoLaserSensor', 'std_capabilities/Navigation2D']]
    • interactions [default: true] — start an interactions manager
    • interactions_list [default: $(env ROCH_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
    • zeroconf [default: true]
    • zeroconf_port [default: 11311]
• providers/launch/robot_state_publisher.launch
  • Launcher for the Roch's robot state publisher provider.
  • • base [default: $(env ROCH_BASE)] — mobile base type [roch]
    • stacks [default: $(env ROCH_STACKS)] — stack type displayed in visualisation/simulation [standard]
    • 3d_sensor [default: $(env ROCH_3D_SENSOR)] — 3d sensor types [kinect, asus_xtion_pro, r200]
    • 3d_sensor_enable [default: $(env ROCH_3D_SENSOR_ENABLE)] — 3d sensor enable
    • 2d_laser [default: $(env ROCH_LASER)] — 2d laser types [ls01c, rplidar]
    • 2d_laser_enable [default: $(env ROCH_LASER_ENABLE)] — 2d laser enable
    • serialport [default: $(env ROCH_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
    • simulation [default: $(env ROCH_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
    • robot_name [default: $(env ROCH_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
    • robot_type [default: $(env ROCH_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
• providers/launch/laser_sensor.launch
  • Launchers for Roch's 2d laser
• providers/launch/navigation_2d.launch
  • Just for amcl and move_base in here.
• providers/launch/diagnostics.launch
  • Launcher for the Roch's diagnostics provider
  • • base [default: $(optenv ROCH_BASE roch)]
• providers/launch/rgbd_sensor.launch
  • Launchers for Roch's 2d laser
• providers/launch/depthimage_to_laserscan.launch
  • Launchers for Roch's 3D camera.

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