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In the previous video.

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I am confident that you are now good with launch.

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Right now it's time to start working with it and utilizing it in our daily projects.

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We are going to be running iRobot with the help of a launch fight and the notice that we are required

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to launch a robot.

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For example, the first thing that I want to show you is our race, which is a very good software resource

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to run.

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I always do, and its node is our rescue.

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We can run our ways with the help of X package, the way we ran publisher and subscribe.

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But I'm going to write it inside of our launch launchpad.

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And what else do we want to do?

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From the previous courses, you might have come across these two things robot, state publisher and

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a state publishers.

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They are very essential.

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If a robot only contains joints that are fixed.

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We would not be requiring the joints to publish it.

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And only robot street publisher is going to be enough.

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But as are your idea for a robot if we take a look on the joints.

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The Basslink is a fixed joint, but the wheels are not fixed joints.

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They are continues joints.

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The continuous joints basically means not just revalued joint.

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They are continuous like they have no limits in their rotation.

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If we had a revolution, there must be a limit from point where it is starting and it is going to end

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in a revolution.

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It continues.

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There is no limit.

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There are multiple types of joint, but we are using fixed and continuous.

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The point is, our joints are not just fixed, continuous.

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We need a joint state publisher as well and it is not a joint state publisher.

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Simple.

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It is a DUI.

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And it is going to explain a lot of things for us.

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Let's take a look.

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I have saved it.

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And there are two more lines I will explain you after I launch.

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Our robot in this simulation with a large file.

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There is one thing remaining that I will show you right now Ross to launch vs bot and our always.

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What is going to happen.

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It is going to start doing the things that we did in the previous video.

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Why?

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Because we have saved the changes in the file, but the package does not know what changes are made.

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So we have to put all the very precious gold can build the new file.

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The edited file is going to be saved inside of the sheer folder in firearm, the same launch file.

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It is going to do different things.

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The first thing is going to be.

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Or whenever I wish to, but it is not.

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And there comes a native which is back a joined state publisher.

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July, not long.

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Why I am sure you.

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This is our robot name.

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Our system does not contains this package, so we need to install it.

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And in Linux things are very easy to install, which are public packages which are ubuntu supported

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packages.

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Sudo MP install ros.

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The version of ros we are using that is foxy and the name of the package was Joint Stay Publisher G

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White.

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And if I w if I double damage is going to give me other options.

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I'm going to install both of these packages.

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Let's install them and I know they are installed.

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So if I run the previous file again without doing any changes and things are now working, let's take

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a look.

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We have our global options in which we have a fixed frame.

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If we are running raw always for the first time and not using any configuration file, things are going

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to get like this, which does not tell us anything about our robot.

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So let me give you a basic understanding of our is our robot name is me is bought the base link.

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The first link that we will be using is base frame.

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So fixed frame is going to be base footprint.

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Okay.

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Now it says there are certain errors that were gone because of fixing the correct big fixed frame.

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Next thing we need to do is to add robot model.

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We are going to add it and we are going to tell it.

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What topic does it needs to get the robot that we have published?

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And it is going to be robot description and control set to save database configuration.

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So we don't need to add again and again.

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You can see this is a robot.

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Everything is at origin for some reason.

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But the point here is, are you already a file is now represented in order of.

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Okay.

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There was one more thing here and it is publishing some states which I will show you in the next video

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how we are going to utilize it.

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But the point here is.

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We have brought a robot not to a launch, but things are set.

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Let's now bring in the steel files into.

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The steel files.

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The measures of armies bought into this idea the to get started on our robot.