1
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Now.

2
00:00:06,760 --> 00:00:08,130
Now we are near to finish.

3
00:00:08,140 --> 00:00:09,820
We have set up everything.

4
00:00:09,850 --> 00:00:10,330
All right.

5
00:00:10,360 --> 00:00:15,220
Now let's make it simple to run, because we run three commands in a separate terminal.

6
00:00:15,340 --> 00:00:19,090
Now, we will do this by using just one launch file.

7
00:00:22,630 --> 00:00:27,160
If I open the simplest, I have added these two dependencies.

8
00:00:27,160 --> 00:00:30,610
It depends on the Microsoft agent and the Taleo twist.

9
00:00:31,030 --> 00:00:40,090
And in the package dot XML, I have also added these lines and now we are going to create a launch file

10
00:00:40,090 --> 00:00:41,170
in this folder.

11
00:00:42,930 --> 00:00:48,900
The lion turtle underscore lounge dot pi.

12
00:00:49,860 --> 00:00:53,790
So this is our file and we have to make it executable.

13
00:00:58,300 --> 00:01:00,130
And now this is executable.

14
00:01:00,160 --> 00:01:01,090
Come back.

15
00:01:03,010 --> 00:01:06,010
And now we are going to write the description of the launch here.

16
00:01:06,220 --> 00:01:12,550
I have used the Churchill and Churchill have written this launch file, which is very easy to understand.

17
00:01:15,480 --> 00:01:16,350
Bestowed here.

18
00:01:16,380 --> 00:01:20,400
As you can see, we used to run this command in terminal.

19
00:01:20,430 --> 00:01:20,970
Okay.

20
00:01:21,000 --> 00:01:28,140
We are now using the execute process in which we are just writing the command and the inverted commas.

21
00:01:28,290 --> 00:01:36,510
Ros to run microprocessor microprocessor in UDP port and then the number and the dev and then the IP

22
00:01:36,540 --> 00:01:37,200
address.

23
00:01:37,230 --> 00:01:40,050
This is how we used to write the command on the terminal.

24
00:01:40,080 --> 00:01:40,470
Okay.

25
00:01:40,470 --> 00:01:43,320
Now, in the launchpad we are writing the same thing.

26
00:01:43,350 --> 00:01:45,000
This is very easy to understand.

27
00:01:45,030 --> 00:01:45,360
Okay.

28
00:01:45,360 --> 00:01:52,500
This is going to launch the Microsoft agent and this is going to launch the Italian twist and this one

29
00:01:52,500 --> 00:01:54,000
will be planted.

30
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Joy dot pi.

31
00:01:55,170 --> 00:01:57,810
Okay, So save it.

32
00:02:00,960 --> 00:02:03,390
Roth to launch.

33
00:02:03,390 --> 00:02:05,220
This time it will be launch.

34
00:02:05,970 --> 00:02:06,480
Lion.

35
00:02:06,480 --> 00:02:07,140
Turtle.

36
00:02:07,170 --> 00:02:07,710
Lion.

37
00:02:07,710 --> 00:02:08,220
Turtle.

38
00:02:08,640 --> 00:02:09,720
Turtle pie.

39
00:02:10,320 --> 00:02:13,530
We are going to launch this now.

40
00:02:13,560 --> 00:02:16,020
I will turn on my robot.

41
00:02:18,990 --> 00:02:20,910
And it should be connected.

42
00:02:22,400 --> 00:02:23,450
This is connected.

43
00:02:25,430 --> 00:02:34,370
There is a joy and publishing the topic and there are two subscribers tell you to join out and the Lion

44
00:02:34,370 --> 00:02:42,380
Turtle joined and they are further publishing the topic onto the lion Turtle Esp32.

45
00:02:42,380 --> 00:02:47,210
Now if I try to run the robot, I can't easily do that.

46
00:02:54,940 --> 00:02:58,730
And I will turn off both LEDs.

47
00:02:59,710 --> 00:03:00,310
Turn on.

48
00:03:00,730 --> 00:03:01,450
Right.

49
00:03:01,630 --> 00:03:03,880
Left turn on.

50
00:03:04,300 --> 00:03:04,990
Yes.

51
00:03:04,990 --> 00:03:07,000
And I will also.

52
00:03:09,310 --> 00:03:10,090
Operate the.

53
00:03:12,100 --> 00:03:12,710
Server.

54
00:03:13,510 --> 00:03:14,800
You can easily control it.

55
00:03:15,790 --> 00:03:16,050
And.

56
00:03:21,300 --> 00:03:27,870
And you can also find a link of the GitHub repo on which everything is explained.

57
00:03:28,020 --> 00:03:34,800
This will be our main package line turtle and this is dependent on Microsoft agent and Taleo twist.

58
00:03:35,100 --> 00:03:39,780
So you need to have this package in your PC in order to run this line.

59
00:03:39,810 --> 00:03:40,880
Turtle package.

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00:03:40,890 --> 00:03:43,560
Turtle import is not needed.

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00:03:43,560 --> 00:03:45,120
You can even delete this.