Tutorial 2: TeMoto Config

Overview

TeMoto configuration package, or TeMoto config in short, organizes all your application specific assets as a single neat ROS package. These assets include:

• configuration files
• TeMoto actions
• UMRF graphs
• custom scripts and source files
• etc

The idea is that each robot you set up TeMoto for has its dedicated TeMoto config. Therefore we highly recommend to create and use a TeMoto configuration package as the basis of your TeMoto setup.

Note: As each robot is expected to have a unique TeMoto config name, this name is by default used as a ROS namespace of robot-specific ROS nodes and topics. For example, when launching temoto.launch without any further arguments, then the name of the TeMoto config is assumed to be the namespace.

Using the Command-Line Tools

To create a TeMoto config, open a terminal window and type the following:

rosrun temoto_workspace_generator generate_workspace my_temoto_config <path>

Since TeMoto config is a ROS package, the following makes the most sense:

# Navigate to the source folder of your catkin workspace
cd <catkin-ws>
rosrun temoto_workspace_generator generate_workspace my_temoto_config src

# Don't forget to build and source your catkin workspace
catkin build
source devel/setup.bash

Structure of TeMoto Config

TeMoto config package has following folder structure:

my_temoto_config/
|__actions/
|__umrf_graphs/
|__my_temoto_config/
     |__config/
     |__launch/
     |    |__action_assistant.launch
     |    |__temoto.launch
     |__CMakeLists.txt
     |__package.xml

where

• my_temoto_config/my_temoto_config: Contains the launch files to launch TeMoto and the Action Assistant, as well as config folder where ,e.g., Component Manager, Robot Manager or other configuration files can be stored.

• my_temoto_config/temoto_actions: The default directory where the Action Assistant will generate the TeMoto Actions.

• my_temoto_config/umrf_graphs: The default directory where the Action Assistant will generate the UMRF graphs.