!

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该教程假设你已经有一个Roch机器人，该教程将运行在Roch上，并且你已经安装了roch_robot。

启动minimal

• 启动roch

roslaunch roch_bringup minimal.launch

该启动文件将打开所有的硬件驱动，例如与Roch的通信，robot description，robot_localization，robot_control等等。在你启动其他示例程序，例如roch_follower，roch_navigation，roch_bringup，该启动文件是最基本的包。

启动传感器

• 在Roch上启动传感器

roslaunch roch_bringup sensor.launch

该启动文件将会打开包括激光（例如LS01C和Rplidar）或3D相机，例如（Micrsoft Kinect, Asus Xtion, Intel Realsense 200 and Orbbec Astra）。

如果你想要选用其他传感器。你需要修改在.bashrc的环境变量。打开.bashrc，添加如下行：

export ROCH_3D_SENSOR=r200 #for now have three support sensor [ asus_xtion_pro, kinect, r200]
export ROCH_LASER=ls01c                 #[ls01c, rplidar]

默认的rplidar是A1。