The following is the block diagram of the connection. Make sure that you are all set with connecting the devices. Make sure you have connected all sensors and the Launchpad board to your PC before running the driver.
Figure 20: Block diagram of the Chefbot
If we want to launch all driver nodes of the robot, you can simply do it using the following command. Don't forget to change the serial port permission.
$ roslaunch chefbot_bringup robot_standalone.launch
If everything working fine, you will get the following ROS topics:
Figure 21: The Chefbot driver topics
You can also visualize the ROS computational graph using rqt_graph. Here is the visualization of rqt_graph, showing the communication between all nodes:
Figure 22: The computation graph view of Chefbot driver nodes