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The carl_bringup package contains launch files for initializing all of CARL's systems including CARL's segway base, CARL's sensors, CARL's jaco manipulator, and CARL's robot description model. There are currently 5 included launch files: arm.launch, base.launch, robot_model.launch, sensors.launch, and carl_bringup.launch. Arm.launch launches the jaco arm; base.launch launches the segway base; robot_model.launch launches the urdf robot model; sensors.launch launches the asus camera, hokuyo laser scanner, computer battery monitor, sensor servos, and the top frame and base IMUs; and carl_bringup.launch launches everything.


The carl_bringup.launch file will start necessary nodes for running CARL at a basic level. This includes the ROS wrapper for the arm, interactive manipulation, the segway rmp control nodes, camera servo control, teleoperation for the previous packages, launch files for each camera, the robot model, and basic safety nodes. This is run as follows:

Individual modules of the CARL robot can also be launched using the arm.launch, base.launch, and sensors.launch files for the JACO arm, Segway RMP base, and ASUS and Creative depth sensors, respectively. These are run with the following command (replace <module name> with the desired module):

The robot_model.launch file will separately launch nodes required for visualization of the robot, and can be run individually to provide visualization for individual modules if the carl_bringup.launch file is not used. This is run as follows:

Troubleshooting Sensors


If problems with the asus occur, try manually installing the drivers:

git clone https://github.com/OpenNI/OpenNI.git
cd OpenNI/Platform/Linux/CreateRedist
cd ../Redist/OpenNI-Bin-Dev-Linux-x64-v1.5.7.10/
sudo ./install.sh

If problems occur regarding failure to stat usb device, disable xHCI and EHCI Hand-off in BIOS.


If there are issues with the hokoyo, try setting the permissions with:

sudo chmod a+rw /dev/ttyACM0

Alternatively, add yourself to the group which has rw access by default, then re-login:

sudo adduser $USER dialout

Phidgets IMU

If a Phidgets IMU is not connecting properly, permissions may not be correctly set. To use the Phidgets IMU as a user other than root, you need to create a udev rule. Create a file called 99-phidgets.rules, with the following line:

SUBSYSTEMS=="usb", ACTION=="add", ATTRS{idVendor}=="06c2", ATTRS{idProduct}=="00[3-a][0-f]", MODE="666"

Copy this file into the /etc/udev/rules.d directory. You may need to reboot your computer for this to take effect.

2024-06-15 12:30