ROS production, part 2: our prototype - code

CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(prototype)

find_package(catkin REQUIRED)

catkin_package()

install(DIRECTORY launch
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

prototype.launch

<launch>
    <!-- Make the device port configurable.  -->
    <arg name="device_port" default="/dev/kobuki"/>

    <!--
        Nodelet manager for the Kobuki driver as well as the safe
        walker.
    -->
    <node pkg="nodelet" type="nodelet"
          name="mobile_base_nodelet_manager" args="manager"/>

    <!-- The ROS wrapper for the Kobuki driver. -->
    <node pkg="nodelet" type="nodelet" name="mobile_base"
          args="load kobuki_node/KobukiNodelet mobile_base_nodelet_manager">
        <rosparam file="$(find kobuki_node)/param/base.yaml"
                  command="load"/>
        <param name="device_port" value="$(arg device_port)"/>
        <remap from="mobile_base/odom" to="odom"/>
        <remap from="mobile_base/joint_states"
               to="joint_states"/>
    </node>

    <!--
        The safe random walker launch file that causes the robot
        to wander while trying not to destroy itself by utilizing
        the bumper sensors as well as the cliff sensors.
    -->
    <include file="$(find kobuki_random_walker)/launch/safe_random_walker_app.launch" />
</launch>