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<<IncludeCSTemplate(TutorialCSHeaderTemplate)>>

<<TableOfContents(2)>>

This tutorial assumes that you have a Ro``ch and under these tutorials will run on Ro``ch, also [[roch_robot]] you have installed. 
== Launch minimal ==
 * Bring up the roch
 {{{
roslaunch roch_bringup minimal.launch
}}}
This launch file will turn on all hardware driver such as communication with [[Robots/Roch|Roch]], robot description, [[robot_localization]], [[ros_control]] and so on. 
This launch file is the most basic package before you launch another demo such as [[roch_follower]], [[roch_navigation]], [[roch_bringup]].

== Launch sensors ==
 * Launch sensors on [[Robots/Roch|Roch]].
 {{{
roslaunch roch_bringup sensor.launch
}}}
This launch file will turn on sensors included lidar such as LS01C and [[rplidar|Rplidar]] or 3D camera such as Micrsoft Kinect, Asus Xtion, Intel [[realsense_camera|Realsense 200]] and Orbbec [[astra_camera|Astra]]. 

You should change environment variable in ''.bashrc'' file if you want to chose another sensor. Open ''.bashrc'' and add following lines:
 {{{
export ROCH_3D_SENSOR=r200 #for now have three support sensor [ asus_xtion_pro, kinect, r200]
export ROCH_LASER=ls01c			#[ls01c, rplidar]
}}}
Default rplidar is A1.

== Launch rocon app ==
If you want to use rocon for multimaster with Roch, you should launch concert_minimal.launch at first, which will run roch apps for both Qt and android, command shown follow:
  {{{
roslaunch roch_bringup concert_minimal.launch
}}}

=== Checkout on android ===

After this you can install [[rocon_remocon]] apk for your android device.

Choose Roch wifi and type password, for how to configure please read [[roch/Tutorials/Network configuration for Roch|Network]]

When you fire up rocon_remocon will see mainly layout under.

{{attachment:main_layout.png||width=30%}} 

Add Roch master:

{{attachment:add_a_master.png||width=30%}} 

```note```: default master URI is http://192.168.0.100:11311

Click Roch you will find choose role:

{{attachment:choose_role.png||width=30%}} 

Choose different role you will find some app you can perform.

{{attachment:roch_documentation.png||width=30%}} 
{{attachment:android_pairing.png||width=30%}} 

For example launch navigation:

{{attachment:launch_navigation.png||width=50%}} 

=== Checkout on Qt ===

Under this is a screenshot after fire up `````rqt_remocon````` or `````rocon_remocon`````.
  {{{
rqt_remocon # or recon_remocon
}}}

{{attachment:roch_rocon.png||width=100%}}
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