Robot Launch Package

This package orchestrates the startup of all robot nodes.

Launch

Launch the robot with default settings:

ros2 launch robot_launch robot.launch.py

Arguments

Argument	Default	Description
enable_motors	true	Enable motor driver (ddsm115) and odometry node
enable_rl_balancer	false	Enable the RL balancing policy node
rl_model_path	bundled balancing-robot_model_1000.onnx	Path to the ONNX policy model file
ydlidar_params_file	[ydlidar_ros2_driver]/params/Tmini.yaml	Path to YDLidar parameter file

Examples

Launch without motors (sensors only):

ros2 launch robot_launch robot.launch.py enable_motors:=false

Launch with RL balancer using the bundled model:

ros2 launch robot_launch robot.launch.py enable_rl_balancer:=true

Launch with RL balancer using a custom model:

ros2 launch robot_launch robot.launch.py enable_rl_balancer:=true rl_model_path:=/path/to/policy.onnx

Launch with custom Lidar params:

ros2 launch robot_launch robot.launch.py ydlidar_params_file:=/path/to/params.yaml

Nodes Started

Node	Condition	Package
robot_state_publisher	always	robot_tf_publisher
ekf_filter_node	always	robot_localization
footprint_publisher	always	robot_launch
imu_driver_node	always	imu_driver_node
ydlidar_ros2_driver_node	always	ydlidar_ros2_driver
foxglove_bridge	always	foxglove_bridge
ddsm115_driver_node	enable_motors:=true	ddsm115_driver
odometry_node	enable_motors:=true	odometry_node
rl_balancer_node	enable_rl_balancer:=true	rl_balancer_node

Dependencies

• robot_tf_publisher
• imu_driver_node
• ydlidar_ros2_driver
• ddsm115_driver
• odometry_node
• robot_localization
• rl_balancer_node
• foxglove_bridge