Middleware

To start the hardware of HERO, please refer here As is mentioned here, a lot of software is started on AMIGO upon boot. Nevertheless, for both robots the software described is not sufficient to have the robot operating autonomously.

The world model, localization and navigation modules etc. enabling this are started in a single launch file that is commonly (and incorrectly) referred to as 'middleware'. There are three launch files that are relevant for demo purposes (see amigo_bringup and hero_bringup):

• free_mode.launch: this launches ED with localization. Therefore it relies on the environment in which this is used. default is the Testlab.
• demo_intern.launch: launches ED with localization but with the RoboCup plugin. The furniture objects that are present in the 'robotics_testlabs' environment can be swiped into the world model.
• demo_extern.launch: launches gmapping and ED without localization but with the RoboCup plugin. The furniture objects that are typically taken to external demos can be swiped into the world model.

Now you can do stuff using the user interfaces