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Stacks (what runs where)

This workspace is driven by a single entrypoint launch: rovi_bringup/rovi.launch.py. It composes two layers:

  • Gateway plane (always-on): rovi_bringup/gateway.launch.py → robot_bringup.launch.py (backend) + ros_ui_bridge (+ robot_serial_display on real robot).
  • Stack plane (session): stack:=teleop|camera|mapping|localization|nav|offline|bringup.

In “stack-only” workflows (typical on the real robot), the gateway plane is owned by rovi-gateway.service and you launch stacks with gateway_enabled:=false (this is auto-added by rovi_env.sh when the service is active).

Stack wiring (launch composition)

Legend: ✓ = always, opt = optional (launch arg), — = not started by that stack.

stack:=... Intended use twist_mux (/cmd_vel) Camera drivers (real only) Floor runtime (/floor/*) SLAM (slam_toolbox) Nav2
teleop Manual driving / base + LiDAR bringup ✓ — — — —
camera Camera bringup + teleop ✓ ✓ — — —
mapping Build/update map ✓ opt (camera_enabled) opt (camera_enabled) opt (slam_enabled) —
localization Localize against saved pose-graph ✓ opt (camera_enabled) opt (camera_enabled) opt (slam_enabled) —
nav Navigate (mapping or localization) ✓ opt (camera_enabled) opt (camera_enabled) ✓ (slam_mode) ✓
offline URDF/TF inspection only — — — — —
bringup Gateway-only placeholder (no session stack) — — — — —

Notes:

  • “Camera drivers (real only)” are started by rovi_bringup/camera.launch.py and only run when robot_mode:=real.
  • “Floor runtime” is rovi_floor/floor_runtime_node included via rovi_bringup/perception.launch.py.
  • Defaults: camera_enabled:=true (mapping/localization/nav) and slam_enabled:=true (mapping/localization).

Real robot (robot_mode:=real)

  • LiDAR (/scan) comes from the backend (gateway plane) and is expected in all normal “real robot” sessions.
  • Depth + color only exist if the stack starts camera drivers:
    • always for stack:=camera
    • optional for stack:=mapping|localization|nav via camera_enabled:=true (default true)
    • never for stack:=teleop
  • Camera perception consumers (floor runtime) are gated by camera_enabled too, so you can run LiDAR-first mapping/nav by setting camera_enabled:=false.

Important sensor topics you should expect when cameras are enabled:

  • LiDAR: /scan
  • Depth: /camera/depth/image (and/or /camera/depth/image_raw depending on driver pipeline)
  • Color: /camera/color/image

Simulation (robot_mode:=sim)

  • LiDAR (/scan) is bridged from Gazebo via rovi_gz_sensors_bridge_node.
  • Depth + color are also bridged from Gazebo and are typically present regardless of which stack you run.
  • camera_enabled:=false disables camera-based consumers (like floor runtime); it does not stop Gazebo from publishing sensor topics.

Important sensor topics you should expect in sim:

  • LiDAR: /scan
  • Depth: /camera/depth/image
  • Color: /camera/color/image

Offline (robot_mode:=offline)

No sensors are expected; this mode is for URDF/TF inspection.

Key launch args (most commonly used)

Arg Used by Default What it changes
robot_mode all real Backend: hardware (real), Gazebo (sim), or URDF-only (offline).
stack rovi.launch.py teleop Which session stack to compose.
gateway_enabled rovi.launch.py true Start/skip gateway plane (backend + UI bridge + display).
rviz rovi.launch.py true for sim/offline, else false Start RViz.
joy_enabled control stacks true on real, else false Start joystick teleop nodes.
odom_mode mapping/localization/nav filtered Select raw vs EKF odom policy.
slam_enabled mapping/localization true Enable/disable slam_toolbox in those stacks.
slam_mode nav mapping Nav stack SLAM policy: mapping vs localization.
map_file_name localization/nav ~/.ros/rovi/maps/latest.posegraph Pose-graph file used when localizing.
camera_enabled mapping/localization/nav true Start camera drivers (real) + camera-based perception (real/sim).
camera_topology_enabled mapping/localization/nav false Publish /floor/topology (visualization) when camera pipeline is enabled.
device_id camera + camera-enabled stacks (driver default) OpenNI2 device selector (depth).
depth_mode camera + camera-enabled stacks (driver default) OpenNI2 preset name (depth resolution/FPS).
rgb_video_device camera + camera-enabled stacks auto-picked V4L2 device path (color).
rgb_width,rgb_height camera + camera-enabled stacks (launch defaults) Color resolution.