Create launch files for the NUC and the laptop

[ihsan314]

Currently, when running the complete system end to end, we do the following on the NUC:

• We initiate several SSH connections (or open several terminals within one connection via tmux)
• We run roscore in one terminal
• We run realsense_both.launch in another terminal
• We run motors_and_integration.launch in yet another terminal
• In the future we need to run a node or two on the NUC that will send serial commands to the Teensy.
• We will also soon need to run a node that listens to the Swift Piksi GPS module we have

We do the following on the laptop:

• We run pro_controller in one terminal
• We run camera_viewer.launch in another terminal
• We will need to run rviz to see where our rover is positioned
• We may need to run Gazebo to see how our arm is behaving.

That's quite a few things to run and mentally keep track of. To keep things simple, all the NUC nodes/launch files should be ran from a single launch file, and all the laptop nodes/launch files should be ran from another launch file. That way, the likelihood of human error in running the above commands is unlikely to materialize.

These launch files can be added to the sb_utils package in a folder named launch. There are several examples of launch files within the repo, including within the sample_package in my_node.launch.

Additional resources regarding launch files:

• http://wiki.ros.org/roslaunch
• http://wiki.ros.org/ROS/Tutorials/UsingRqtconsoleRoslaunch#Using_roslaunch
• http://wiki.ros.org/ROS/Tutorials/Roslaunch%20tips%20for%20larger%20projects
• Snowbots has access to a ROS course that has a unit on launch files. DM me on Slack if you'd like access to that.