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--- robots:computer:talos:software [2015/01/12 14:33]
david
+++ robots:computer:talos:software [2021/08/14 04:21] (current)
@@ Line 42: / Line 42: @@
 In each of this launch files start several programes (nodes) and set the parameters for them:
-        <launch>
+<launch>
 	<node pkg="joy" type="joy_node" name="joy_node" output="screen">
 			<param name="joy_node/dev" value="/dev/input/js0"/>
@@ Line 52: / Line 52: @@
 			<param name="cmd_vel_frame" value="/robot_frame"/>
 	</node>
-        </launch>
+</launch>
-in this example, the joystickdriver gets started and the the joystick values gets provided for later use.
+in this example, the joystickdriver gets started (pkg="joy") and the port gets defined.
+The second node (pkg="talos") is responsible for providing the joystickvalues at defined variables, so that other
+programmes can use the values later.
+For autonomous mode there are a lot of more different nodes neccessary. The rough programming structure gets explained here:
+ [[robots:computer:talos:Software:Program structure|Program structure]]
-**Node graph:**
-{{ :robots:computer:talos:node_graph.png|}}

Technology in Crop Production