How to start ROS nodes

Last Updated: Dec 13, 2023

Here are the commands you’ll need to start the ROS nodes individually.

To launch individual node

• Start Realsense2 camera node

    $ ros2 launch realsense2_camera rs_l515_launch.py
  

• Start AprilTag Dectection node

    $ ros2 run apriltag_ros apriltag_node --ros-args \
        -r image_rect:=/camera/color/image_raw \
        -r camera_info:=/camera/color/camera_info \
        --params-file `ros2 pkg prefix apriltag_ros`/share/apriltag_ros/cfg/tags_Standard41h12.yaml
  

• Start the arm node

    $ ros2 launch interbotix_xsarm_control xsarm_control.launch.py robot_model:=rx200
  

  • This command will launch rviz with the virtual robot model, the model would show exactly how the arm moving.
  • More can be learned from the official ROS 2 Quickstart Guide
• Start the camera calibration node

    $ cd ~/image_pipeline
    $ source install/setup.bash
    # the size of the checkerboard and the dimensions of its squares may vary
    $ ros2 run camera_calibration cameracalibrator --size 6x8 --square 0.025 \
        --no-service-check --ros-args \
        -r image:=/camera/color/image_raw  \
        -p camera:=/camera
  

Before starting any node that requires the camera, make sure to start the Realsense2 node first.