Launch Files

There are currently 2 launch files for the fetch robot and 3 launch files for the PR2.

Fetch Launch Files

fetch_full_launch Fetch full is used to launch the teleop for a simulated fetch. It launches the same nodes that the standard does, and it also launches Gazebo to create a simulated robot. Fetch full will also start the nodes needed to use the front end. This is a quick way to try out the teleop interfaces. After roslaunching this file, serve the front end files (one option is to navigate to the front end directory and runpython -m SimpleHTTPServer 8082 .) and then you can begin using the teleop interfaces.

fetch_standard Fetch standard is simpler than fetch full, and only starts 3 nodes. It does not start any nodes needed to connect the front end and the back end, so if you are using fetch standard, then this will need to be done manually. The 3 nodes started by fetch standard are rviz, the pointcloud saver used to freeze a point cloud, and the fetch access teleop. To learn more about fetch access teleop, see the wiki page for the back end

PR2 Launch Files