ada_launch

Launching the robot (default setup)

Simply run roslaunch ada_launch default.launch.

Next, you can run a demo from ada_demos, that uses the plain Ada robot without any attachments.

Launching the robot for the feeding demo

The feeding demo requires some more configuration and some additional nodes. It can be started by running roslaunch ada_launch default.launch feeding:=true. To run it with simulated perception roslaunch ada_launch default.launch feeding:=true perception:=false.

You may also need to start

• The camera node, running directly on the camera board. Typically the script is called something like run_all.sh
• The forque sensor controller, using roslaunch forque_sensor_hardware forque.launch
• The feeding demo parameters, and the feeding demo itself.

Launching the simulated environment for the feeding demo

Simply run roslaunch ada_launch simulation.launch.

This adds mandatory TF trees that the ADA demos are expecting, plus simulated food and face detection.

Launching the simple perception demo

Run roslaunch ada_launch simple_perception.launch.

It takes one argument adareal, which should be set to true if running on the real robot: roslaunch ada_launch simple_perception.launch adareal:=true

For more information, see the simple_perception demo in ada_demos.