Launch Guide

On Host

This launch guide assumes that you succesfully installed and built the robot_suite directly on your machine (ie. not in Docker) by for example using the installation guide.

Launch steps

Sourcing the virtual environment

source <path_to_environment>/bin/activate

Sourcing the suite

source <path_to_workspace>/install/setup.bash

Launching
You can either launch the whole robot_suite, or individual plugins (ie.standalone mode).
- Whole suite
```
ros2 launch robot_bringup <robot_platform>_launch.py
```
  (e.g. ros2 launch robot_bringup tello_launch.py)
- Individual plugin in standalone mode
```
ros2 run <plugin_name> <plugin_node_name> --ros-args -p standalone:=true
```
  (e.g. ros2 run hand_gestures landmark_detector_node --ros-args -p standalone:=true)

Note

The available robot platforms are: tello and spot
You can find the documentation on available plugins here

With Docker

If you installed the suite using the Docker installation guide, and especially the docker-compose tutorial, the suite should be launched automatically after the container has started.

Else, if you have a stopped container:

Start the container

On host, run
```
docker start <container_name>
```
Enter the container
```
docker exec -ti  <container_name> bash
```

Sourcing the suite

Inside the container,

source <path_to_workspace>/install/setup.bash

Launching
You can either launch the whole suite or plugins in standalone mode. For either, run the corresponding command within the Docker container.
- Whole suite
```
ros2 launch robot_bringup <robot_platform>_launch.py
```
- Individual plugin in standalone mode
```
ros2 run <plugin_name> <plugin_node_name> --ros-args -p standalone:=true
```

Example

If your container is named tello_suite, and you want to launch the whole suite, run

On Host:

docker start tello_suite
docker exec -ti tello_suite bash

Then inside the container:

source /workspace/install/setup.bash
ros2 launch robot_bringup tello_launch.py