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--- robots:computer:talos:software [2015/01/07 16:38]
david
+++ robots:computer:talos:software [2015/01/12 14:24]
david
@@ Line 1: / Line 1: @@
 ====== Software =======
-**general:**
+== General: ==
   * Operating System Ubuntu 14.04 www.ubuntu.com
   * Robot Software (ROS) http://ros.org
@@ Line 7: / Line 8: @@
 {{:robots:computer:talos:rviz_visio_5.png|}}
-**node graph:**
+**Node graph:**
 {{ :robots:computer:talos:node_graph.png|}}
@@ Line 18: / Line 20: @@
      * security layer
      * obstacle avoidance
+**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:
+[[http://wiki.ros.org/roslaunch/XML|link]]
+Example for a minimum setup:
+  - Start programm for accessing the motorcontrollers
+  - Start programm to recceive some signals of a joystick
+  - Start programm to send the joystick signals to the motorcontroller
+In our system system these parts get started by two different launch files:
+  * Motorcontrollers (actor)
+  * Joystick (as command node)

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