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Node graph:
rough Programming structure
Launch files:
as typical in the ros environment, the whole system parameters can be defined by launch files. At the current status of the TALOS robot every Sensor-System got its own launch file. A launch file defines the running programms (nodes) and the neccessary starting parameters for the device/programm or algorithm. Description of ROS launch files can be found here: link
Example for a minimum setup:
In our system system these parts get started by two different launch files: