The ROS2 launch system is used here to provide simple commands that simultaneously start multiple nodes, in order to facilitate testing, debugging, and demonstrations involving the Force Dimension pacakge.
Use the ROS2 command line to launch these scripts. For example:
ros2 launch force_dimension echo_position.launch.py
The ROS2 launch system has been described as follows:
The launch system in ROS is responsible for helping the user describe the configuration of their system and then execute it as described. The configuration of the system includes what programs to run, where to run them, what arguments to pass them, and ROS specific conventions which make it easy to reuse components throughout the system by giving them each different configurations.
The launch system is described in greater detail in the architecture documentation.
The following launch files are available as part of the Force Dimension package:
echo_position.launch.py: This launch command will start the Force Dimension node and the ros2 topic echo command line utility. While running, the position of the robotic end-effector will be displayed as scrolling text on the screen.record_bag.launch.py: This launch command will start the Force Dimension node and the ros2 bag utility for recording data. The utility will record Force Dimension data with the default settings.