Next, we'll look at the final launch file, which we skipped while covering the face_tracker_pkg package, and that is start_dynamixel_tracking.launch. This launch file starts both face detection and tracking using Dynamixel motors:
<launch> <!-- Launching USB CAM launch files and Dynamixel controllers --> <include file="$(find face_tracker_pkg)/launch/start_tracking.launch"/><include file="$(find face_tracker_control)/launch/start_dynamixel.launch"/> <!-- Starting face tracker node --> <node name="face_controller" pkg="face_tracker_control" type="face_tracker_controller" output="screen" /> </launch>
Let's look at setting up the hardware in the next section.