`bringup` — Launch Orchestration¶

The bringup package is the single entry point for the entire fishing-arm stack. It owns no application logic; instead it wires together ros2_control, TF, and delegates to the other packages via IncludeLaunchDescription.

Source: software/src/bringup/
Auto-generated tables: bringup

Role in the stack¶

robot.launch.py is the only launch file most operators need. It:

Resolves the use_sim flag at xacro time, selecting the hardware plugin.
Starts robot_state_publisher (both modes).
Starts either mujoco_ros2_control (sim) or controller_manager (HW).
Spawns ros2_control controllers via controller_manager/spawner nodes.
Includes application launches from control, sensors, planning, and diagnostics.

        flowchart TB
    RL["robot.launch.py"]
    RL --> RSP["robot_state_publisher"]
    RL -->|"use_sim=true"| MJ["mujoco_ros2_control"]
    RL -->|"use_sim=false"| CM["controller_manager"]
    RL --> SP["controller spawners"]
    RL --> CL["control.launch.py"]
    RL --> SL["sensor.launch.py"]
    RL --> FL["fish.launch.py<br/>(sim only)"]
    RL --> DL["diagnostics.launch.py<br/>(record:=true)"]
    RL --> HC["hardware_check<br/>(hardware_check:=true)"]

Launch arguments¶

Argument	Default	Effect
`use_sim`	`true`	MuJoCo simulation vs Dynamixel hardware
`headless`	`false`	Hide MuJoCo GUI (sim only)
`run_duration`	`0`	Auto-shutdown after N seconds (0 = until Ctrl-C)
`record`	`false`	Enable diagnostics recorder + animation (sim)
`hardware_check`	`false`	Open-loop motor/sensor test; disables controller
`controller_type`	`admittance`	`admittance`, `force_feedback`, or `none`

Full argument list with descriptions is regenerated in the bringup page on every build.

Sim vs hardware branching¶

The use_sim argument is passed into xacro when the URDF is generated:

xacro fishing-robot.urdf.xacro use_sim:=true headless:=false

This swaps the <hardware> plugin inside <ros2_control> before any controller loads. See description — Robot Model Assets and ROS 2 Communication Graph for the resulting differences in nodes and topics.

Controller spawners¶

These spawners talk to /controller_manager and are identical in both modes for the arm controllers:

Spawner	Controller	Mode
`joint_state_broadcaster`	Publishes `/joint_states`	both
`position_trajectory_controller`	Accepts `JointTrajectory` commands	both
`fish_effort_controller`	Forwards fish effort to MuJoCo	sim only
`tension_sensor_broadcaster`	Publishes rod-tip FTS wrench	sim only

Configuration lives in config/controllers.yaml.

Application delegation¶

Rather than declaring application nodes inline, robot.launch.py delegates:

Included launch	Package	Condition
`control.launch.py`	`control`	`unless hardware_check`
`sensor.launch.py`	`sensors`	always
`fish.launch.py`	`planning`	`if use_sim`
`diagnostics.launch.py`	`diagnostics`	`if record`

The sensor source is set programmatically:

source = 'sim_fts' if use_sim else 'hardware'

Configuration files¶

`config/controllers.yaml`¶

Declares the ros2_control controller types and joint lists. Key entries:

position_trajectory_controller — joints Joint_1, Joint_2; position command interface.
fish_effort_controller (sim) — joint fish_swim; effort interface for the virtual fish.
tension_sensor_broadcaster (sim) — sensor tension_sensor → /tension_sensor_broadcaster/wrench.

`config/params.yaml`¶

Shared tuning for both tension controllers (admittance_controller and force_feedback_controller namespaces). Passed to whichever controller node control.launch.py starts. See control — Tension Controllers for parameter semantics.

Interactions with other packages¶

Package	Interaction
`description`	Supplies xacro/URDF processed with `use_sim` and `headless`; MJCF path embedded in URDF for sim.
`control`	Included via `control.launch.py`; receives `controller_type` launch arg.
`sensors`	Included via `sensor.launch.py`; receives `source` launch arg derived from `use_sim`.
`planning`	Included only in sim; fish disturbance drives `fish_effort_controller`.
`diagnostics`	`recorder` when `record:=true`; `hardware_check` when `hardware_check:=true`.
`interfaces`	Indirect — all app nodes use `FishingTension` published by sensors, consumed by control.

Typical launch commands¶

# Default simulation
ros2 launch bringup robot.launch.py

# Headless sim with 30 s recording
ros2 launch bringup robot.launch.py headless:=true record:=true run_duration:=30

# Hardware with Chaoyi controller
ros2 launch bringup robot.launch.py use_sim:=false controller_type:=force_feedback

# Pre-flight open-loop check (works in sim or HW)
ros2 launch bringup robot.launch.py hardware_check:=true

bringup — Launch Orchestration¶