RBTNK-DOC-120229E
System Start-up Manual. GUARDIAN-WAM Platform
Figure 12.visualization of basler camera video stream in rviz
2.2. Running the complete robot
By default, all the ROS nodes are launched automatically when
the robot is initialized.
If you want to restart the nodes manually, you can stop the
processes by following these instructions:
1) Use the ps command in order to find all the processes related
to ROS.
$> ps –ef | grep guardian
2) If there are processes in the list, you can stop them using this
type of command sequence:
$> kill –s SIGTERM <pid-of-first-process>
$> kill –s SIGTERM <pid-of-Nth-process>
3) Start a new terminal (CTRL+ALT+T) and run
$>roscore
4) Once roscore is running you can run each component
individually in different terminals or you can launch the configuration
file available in guardian_complete directory which will launch all the
nodes at the same time.
$>roslaunch guardian_complete guardian_complete.launch
5) If you want to control the robot by the joystick/game-pad,
you will have to run the guardian_pad node:
$>roslaunch guardian_pad guardian_pad.launch
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