====Running ROS scripts====
*This page will describe how to run ROS programs of Furo that are currently being used.*
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{{akshay:jason_roscore1.png}}
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Roscore is necessary for nodes to establish communication with each other. Rosmaster provides the naming and registration services to the nodes.
    $ roscore
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{{akshay:jason_rosrun_joy.png}}
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The joy_node script is to convert joystick value to digital value.
    $ rosrun joy joy_node
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{{akshay:jason_learningjoy.png}}
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The furo script is a topic is both a publisher as well as subscriber at the same time. Obtaining value from the joystick, converting it to a float data type and passes it to the motor controller.
    $ rosrun learning_joy furo
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{{akshay:jason_roboclaw.png}}
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The roboclaw.launch script is to control the motor controller that is connected to the wheels of FURO.
    $ roslaunch roboclaw_node roboclaw.launch
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{{akshay:jason_headmotor.png}}
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The finalheadmotor.py script is a subscriber that receives value from joystick node and enables Furo's head movement.
    $ rosrun head_motor finalheadmotor.py
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{{akshay:facedect_findace_publisher.png?400}}
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The findface_publisher.py is a publisher that detects people's face and transfer the x,y coordinates of people's face to the face_tracks.py script.
    $ rosrun facedetect findface_publisher.py
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{{akshay:head_motor_face_tracks.png?400}}
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The face_tracks.py script is a subscriber that receives the x,y coordinate of a person's face and enable Furo to move toward the person.
    $ rosrun head_motor face_tracks.py