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Previously, we saw how new ideas can represent a complete robot.

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Now it's time to make some changes.

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And to that and understand the concept of launch while shifting towards our next price controls should

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fee to view the reward.

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I have made a lot of changes in this reward and brought everything of this robot vs cost piece to the

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origin point.

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You can see everything is overlapping at the origin.

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Why I have done this because I have to present you a basic concept about machines and we are dealing

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with our vision of the machine.

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So first we need to tell this package where you are.

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You are going to be the meshes like the python files.

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We told them this is the name of the executable in the setup.

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We showed them how you can find the executable file and what functions do you execute.

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Okay, but before that it was not working.

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So similarly, we have to build a system.

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Where are the measures and the you are different.

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All extra things that we add in a package, there are those.

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So for that we are going to give them the parts to those things.

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Everything we put on call can make.

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Every time you perform, all of the package files are going to be copied into the shared folder with

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all cross.

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Framework related, things are going to access them in the share fold.

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So everything should be placed in the shared folder and I'm going to import some libraries.

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Globe and West, which are very important when working with pots.

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I have added this light which is going to get all of the things you are.

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Do you fold it in Nigeria?

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Fold.

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It means dirt, water and everything inside of it, and copy it into the share folder of this package

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name into a folder.

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So if I open my home folder.

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And in this home folder in the workspace I open install folder Nisbet and this share folder.

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We're all of my things atleast related to me as currently you can see there is no UI package and meshes

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folder that I have brought in here which contains all of the measures of my MES board, but they are

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not available here although they are represented in the package.

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And let me show you another thing, which is that.

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Where are the.

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Okay.

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So in maze bought folder off installed you can find my publisher and subscribe.

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So you see all of the files that are available in the -- folder in V, but we are interested in representing

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this idea of animations and all.

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You think that we will be created in the shade folder.

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So now I have given the parts to my idea and I am going to again give support for another folder that

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is meshes for that.

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We're just going to bring this meshes and all files entered into a folder named as meshes.

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So everything is going to be placed inside gopher cheer folder.

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Let's open up a terminal and I'm going to go inside of workspace that is part planning workspace and

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perform polygon build before pressing.

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And it I want to show you the changes that are going to be made in this folder.

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Bring it up.

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Very.

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So it is it has completed the building process and the watch that I provided for the undefined missions

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folder.

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It has brought it in the shared folder of all of our OSS packages.

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Indexes them with the name of the package.

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This might not be a good thing for you, but it is very important and very useful.

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You will find it.

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Now things have work for us.

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We need to create a launch site to launch multiple nodes.

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The concept of launch file that I assume that you might know by your own self is very interesting.

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You can run multiple nodes with it.

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I'm going to create a new folder named as nodes, obviously, that I'm going to create.

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I was.

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Dot launch dot by the Dodge Dart by is this an extension of the launch file for our base across to base

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files and previously was just launch the process of creating this launch file is very different from

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ROS one launch files.

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So this you can see is the basic syntax of launch file.

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There are certain things that might not be needed, but I'm going to utilize them.

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The libraries and talking about we are going to include nodes inside of it to give you a better understanding.

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And then example, I'm going to run multiple nodes inside of it so you can understand our package name

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was MES, but.

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And the executable name was.

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Dr..

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No.

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Let's bring them side by side so we can understand.

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Let's bring it here.

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This one and this one here.

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Oh no, it was fine.

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Executable.

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Docker node.

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And the name is going to be a publisher.

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This name is what we want to give it, and that's fine.

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Let's create a copy of it and produce another one.

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But this is going to be a subscriber load and it is going to be a listener.

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So we have created a large file in which we have two nodes of our package.

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What we are testing here is what is the purpose of launch by launch?

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So I can run multiple nodes with this execution now rose to launch name of the package pressing David

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automatically completes because we have not sourced our package.

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So source let's bring it from the home for that.

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But planning workspace I'm pressing David automatically compute then install and setup bash.

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This line of code needs to be executed every time we open up.

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I've come terminal to access this package.

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Right.

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Let me solve this issue by automatically sourcing it.

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I'm going to press control.

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It's in my home folder.

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It is going to bring a lot of hidden funds.

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I am going to go inside of my.

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Vash RC file and please this source combine a.

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After the sourcing of ROS to installation, so it automatically performs everything like it again did.

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Is it?

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Now, we would not be required to source again and again for our package.

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Let's source it here.

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Things up for us to launch.

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And what is the name of the package raise?

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I know it automatically completes our base by pressing dab and why?

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It is largely because.

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Our system do not contains the newly edited find we have to perform call convey to make this work.

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For example, if we go inside of our parts planning install baseboard shared folder this board and where

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is it?

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There is no large file because we have not given the part of our launch folder inside of our set up

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by config.

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So I'm going to create it and write, not bring the launch folder as well into your order so we can

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run it through.

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The dominant next perform call control and see now we have the launch file and the our restored launch

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file inside.

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Now we can launch it to launch vs DAP automatically complete double tap to show all possible options.

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And here we have it.

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Pressing orange tab.

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So dramatically complete.

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Let's run it.

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It is posting a lot of things.

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Basically it is running the subscriber node and the publisher.

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If you want to confirm it.

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Ros, you or I could drop.

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And it only represents the listener, by the way.

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It is working on both of these nodes.

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So the power of large file was to run multiple nodes by just running a single file.

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We can have 100 nodes and we can execute them with the launch.

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In this in this video, we just covered the launch files and the next video will launch at RS.

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And take a look how our robot is going to be looking at it.