luci-third-party

Wheelchair launch file

After correctly sourcing ROS2, run the following to start the node:

ros2 launch luci_third_party wheelchair.launch.py ip:={Chair IP address}

This launch files starts up the gRPC interface node and transformation node. The ip launch argument is used to specify the specific chair to connect to.

URDF launch file

Run the following command:

ros2 launch luci_third_party awl_description.launch.py

The launch file starts the joint state publisher and robot state publisher for the urdf as well as showing it in rviz.