Bringup and launch files for BORIS — camera, vision, speech, arm, face, etc.

Overview • Architecture • Installation • Usage • Development

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Overview

fbot_bringup contains ROS 2 launch files and small helpers used to start and configure the robot stack: camera drivers, vision nodes, speech components, arm controllers, etc. The launches are intended to be used individually or combined in a fbot_behavior launchfile.

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Package layout

fbot_bringup/
├── launch/
│   ├── camera.launch.py
│   ├── vision.launch.py
│   ├── full_bringup.launch.py
│   ├── face_recognition.launch.py
│   ├── hotword_detector.launch.py
│   ├── riva_speech_to_text.launch.py
│   └── ... (other launches)
├── package.xml
└── README.md

The launch/ folder holds most of the functionality — use these launch files to start specific subsystems or the whole robot.

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Installation

Prerequisites

• Ubuntu 22.04
• ROS 2 Humble
• Python 3.10

Quick setup

cd ~/fbot_ws/src
git clone https://github.com/fbotathome/fbot_bringup 
cd ~/fbot_ws
colcon build --packages-select fbot_bringup
source install/setup.bash

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Usage

Common subsystem launches:

ros2 launch fbot_bringup vision.launch.py
ros2 launch fbot_bringup camera.launch.py use_realsense:=true
ros2 launch fbot_bringup world.launch.py
ros2 launch fbot_bringup face_recognition.launch.py
ros2 launch fbot_bringup hotword_detector.launch.py
ros2 launch fbot_bringup riva_speech_to_text.launch.py
ros2 launch fbot_bringup synthesizer_speech.launch.py
ros2 launch fbot_bringup interbotix_arm.launch.py

Notes

• Many launch files accept arguments (namespaces, enable flags). Inspect the top of each launch/*.launch.py for available DeclareLaunchArgument entries.
• camera.launch.py uses a runtime check (OpaqueFunction) to validate that at least one camera source is enabled.

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Development

1. Create a branch: (git checkout -b feat/my-launchfile)
2. Implement and test changes (launchers live under launch/)
3. Commit changes (git commit -m 'Add amazing feature')
4. Push to the branch (git push origin feat/amazing-feature)
5. Open a PR against main

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Useful links

• ROS 2 Humble: https://docs.ros.org/en/humble/index.html
• Writing launch files (ROS 2): https://docs.ros.org/en/humble/Tutorials/Intermediate/Launch/Launch-Main.html