EROBS application launch

Launch EROBS action servers and the orchestrator, with optional vision, pipettor, joystick, and tracing support.

src.beambot.launch.beambot_bringup.launch · Source

Setup and deployment · Guide · Symbol index

How it is used

ROS launch calls generate_launch_description() to assemble the production action servers and orchestrator. The active beamline configuration supplies planning and IK settings. Vision/Zivid and pipettor components are opt-in; robot and MoveIt startup are managed by the orchestrator lifecycle.

Read this entry when changing which application nodes start or how launch arguments reach them. Function evaluation builds a launch description; the launch service starts its processes.

Start here

Callable	Purpose
generate_launch_description	Assemble the application servers and launch options using the active beamline’s planning and IK settings. Core motion, end-effector, tool-exchange, and orchestrator nodes always launch; vision and pipettor components are disabled by default.

Example

Inspect the available options without starting the application nodes:

ros2 launch beambot beambot_bringup.launch.py --show-args

The workspace and active beamline configuration must already be available.

Functions

`generate_launch_description()`

Assemble the application servers and launch options using the active beamline’s planning and IK settings. Core motion, end-effector, tool-exchange, and orchestrator nodes always launch; vision and pipettor components are disabled by default.

Entry point · Source

generate_launch_description()

Returns: LaunchDescription containing eight argument declarations, conditional userspace Trace action and nine Node actions. use_sim_time is False for action servers; mock/joystick/batching options go to the orchestrator.

Errors: Config/package/YAML/import errors propagate while generating the description, including tracing dependencies even when disabled. No camera availability check here.

Side effects: Reads configuration during construction. Executing starts ROS processes and optional camera/tracing; use_mock_hardware does not by itself disable the Zivid node. Orchestrator lacks a forced Node name to avoid global remaps affecting its embedded MTC node.