earthrovers_bringup

earthrovers_bringup

This package contains launch files for bringing up the Earth Rovers ROS nodes.

rover_bringup_launch.py

This launch file brings up all the nodes in the stack, as well as a preconfigured RVIZ instance for visualization.

rover_tf_launch.py

This launch file only runs the robot_state_publisher and joint_state_publisher nodes as a simple way to introduce the rover's static and dynamic joint states / frame transformations based on the rover's URDF file. This launch file is helpful when you are trying to debug other nodes in the system but still need the body link transformations available.