Main Launch

The main.launch file located inside a main package. This launch file is a combination of all the 5 nodes we interfaced so far.

Quiz:

Task Description:

In this quiz, create a main package. Inside the main package create a launch directory and store a main launch file. The main launch file will contain the nodes of all the packages we worked with so far. After you write the main launch file, open a terminal and launch it.

Task List:

I created a main package in catkin_ws/src

I created a launch directory in catkin_ws/src/main

I created and wrote the main.launch file in catkin_ws/src/main/launch

I opened a terminal and launched the Lab with a single command

Task Feedback:

Great Job!

Quiz Solution:

Create a `main package` :

$ cd /home/workspace/catkin_ws/src
$ catkin_create_pkg main

Build the package:

$ cd /home/workspace/catkin_ws
$ catkin_make

Create and edit the `main.launch` file:

$ cd /home/workspace/catkin_ws/src/main
$ mkdir launch
$ cd launch 
$ gedit main.launch

Copy the main.launch file from GitHub

Launch the `main.launch` file:

$ cd /home/workspace/catkin_ws/
$ source devel/setup.bash
$ roslaunch main main.launch