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general:
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:
For the system start there are several launch files neccessary if the robot should be able to move:
for setting up
Missin files