# Launch the ODS node
To launch the ODS node, you can use the provided launchfile `ods.launch.py`:
```bash
$ ros2 launch ifm3d_ros2 ods.launch.py
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ods_standalone-1]: process details: cmd='/home/usmasslo/ROS/ROS2/colcon_ws/install/ifm3d_ros2/lib/ifm3d_ros2/ods_standalone --ros-args --log-level info --ros-args -r __node:=ods -r __ns:=/ifm3d --params-
file ~/colcon_ws/install/ifm3d_ros2/share/ifm3d_ros2/config/ods_default_parameters.yaml', cwd='None', custom_env?=True
[INFO] [ods_standalone-1]: process started with pid [486398]
[ods_standalone-1] [INFO] [1728931867.359101479] [ifm3d.ods]: namespace: /ifm3d
[ods_standalone-1] [INFO] [1728931867.359179144] [ifm3d.ods]: node name: ods
[ods_standalone-1] [INFO] [1728931867.359186657] [ifm3d.ods]: middleware: rmw_fastrtps_cpp
[ods_standalone-1] [INFO] [1728931867.359190490] [ifm3d.ods]: Declaring parameters...
[ods_standalone-1] [INFO] [1728931867.359323428] [ifm3d.ods]: After the parameters declaration
[ods_standalone-1] [INFO] [1728931867.359406942] [ifm3d.ods]: node created, waiting for `configure()`...
[ods_standalone-1] [INFO] [1728931867.521751135] [ifm3d.ods]: on_configure(): unconfigured -> configuring
[ods_standalone-1] [INFO] [1728931867.521862570] [ifm3d.ods]: Parsing parameters... [ods_standalone-1] [INFO] [1728931867.521944451] [ifm3d.ods]: ip: 192.168.0.69
[ods_standalone-1] [INFO] [1728931867.521980451] [ifm3d.ods]: pcic_port: 51010
[ods_standalone-1] [INFO] [1728931867.521997881] [ifm3d.ods]: xmlrpc_port: 80
[ods_standalone-1] [INFO] [1728931867.522012697] [ifm3d.ods]: Parameters parsed.
[ods_standalone-1] [INFO] [1728931867.522028686] [ifm3d.ods]: Adding callbacks to handle parameter changes at runtime...
[ods_standalone-1] [INFO] [1728931867.525109429] [ifm3d.ods]: Callbacks set.
[ods_standalone-1] [INFO] [1728931867.525177112] [ifm3d.ods]: Initializing Device
[ods_standalone-1] [INFO] [1728931867.525325450] [ifm3d.ods]: Initializing FrameGrabber for data
[ods_standalone-1] [INFO] [1728931868.040227637] [ifm3d.ods]: Creating OdsModule...
[ods_standalone-1] [INFO] [1728931868.040519950] [ifm3d.ods]: FunctionModule contructor called.
[ods_standalone-1] [INFO] [1728931868.040545387] [ifm3d.ods]: OdsModule contructor called.
[ods_standalone-1] [INFO] [1728931868.040638930] [ifm3d.ods]: OdsModule created.
[ods_standalone-1] [INFO] [1728931868.040644930] [ifm3d.ods]: Creating DiagModule...
[ods_standalone-1] [INFO] [1728931868.040675690] [ifm3d.ods]: FunctionModule contructor called.
[ods_standalone-1] [INFO] [1728931868.040736808] [ifm3d.ods]: hardware_id: /ifm3d/diag_module
[ods_standalone-1] [INFO] [1728931868.040756934] [ifm3d.ods]: DiagModule created.
[ods_standalone-1] [INFO] [1728931868.040803035] [ifm3d.ods]: OdsModule: on_configure called
[ods_standalone-1] [INFO] [1728931868.055527902] [ifm3d.ods]: Parameter ods.frame_id set to 'ods_frame'
[ods_standalone-1] [INFO] [1728931868.055542337] [ifm3d.ods]: DiagModule: on_configure called
[ods_standalone-1] [INFO] [1728931868.057683191] [ifm3d.ods]: Creating BaseServices...
[2]
[ods_standalone-1] [INFO] [1728931868.057733035] [ifm3d.ods]: BaseServices constructor called.
[ods_standalone-1] [INFO] [1728931868.060201097] [ifm3d.ods]: Services created;
[ods_standalone-1] [INFO] [1728931868.060224508] [ifm3d.ods]: BaseServices created.
[ods_standalone-1] [INFO] [1728931868.060237899] [ifm3d.ods]: Configuration complete.
[ods_standalone-1] [INFO] [1728931868.061711296] [ifm3d.ods]: on_activate(): inactive -> activating [89/139]
[ods_standalone-1] [INFO] [1728931868.061807873] [ifm3d.ods]: Starting the Framegrabbers...
[ods_standalone-1] [INFO] [1728931868.187758863] [ifm3d.ods]: Diagnostic monitoring active.
[ods_standalone-1] [INFO] [1728931868.187814195] [ifm3d.ods]: OdsModule: on_activate called
[ods_standalone-1] [INFO] [1728931868.187832369] [ifm3d.ods]: DiagModule: on_activate called
```
This will launch the `/ifm3d/ods` node, using the default parameters defined in `config/ods_default_parameters.yaml`.
This node provides the following interfaces:
```bash
$ ros2 node info /ifm3d/ods
/ifm3d/ods
Subscribers:
/parameter_events: rcl_interfaces/msg/ParameterEvent
Publishers:
/diagnostics: diagnostic_msgs/msg/DiagnosticArray
/ifm3d/ods/ods_info: ifm3d_ros2/msg/Zones
/ifm3d/ods/ods_occupancy_map_ifm: ifm3d_ros2/msg/OccGrid
/ifm3d/ods/ods_occupancy_map_ros: nav_msgs/msg/OccupancyGrid
/ifm3d/ods/transition_event: lifecycle_msgs/msg/TransitionEvent
/parameter_events: rcl_interfaces/msg/ParameterEvent
/rosout: rcl_interfaces/msg/Log
Service Servers:
/ifm3d/ods/Config: ifm3d_ros2/srv/Config
/ifm3d/ods/Dump: ifm3d_ros2/srv/Dump
/ifm3d/ods/GetDiag: ifm3d_ros2/srv/GetDiag
/ifm3d/ods/Softoff: ifm3d_ros2/srv/Softoff
/ifm3d/ods/Softon: ifm3d_ros2/srv/Softon
/ifm3d/ods/change_state: lifecycle_msgs/srv/ChangeState
/ifm3d/ods/describe_parameters: rcl_interfaces/srv/DescribeParameters
/ifm3d/ods/get_available_states: lifecycle_msgs/srv/GetAvailableStates
/ifm3d/ods/get_available_transitions: lifecycle_msgs/srv/GetAvailableTransitions
/ifm3d/ods/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
/ifm3d/ods/get_parameters: rcl_interfaces/srv/GetParameters
/ifm3d/ods/get_state: lifecycle_msgs/srv/GetState
/ifm3d/ods/get_transition_graph: lifecycle_msgs/srv/GetAvailableTransitions
/ifm3d/ods/get_type_description: type_description_interfaces/srv/GetTypeDescription
/ifm3d/ods/list_parameters: rcl_interfaces/srv/ListParameters
/ifm3d/ods/set_parameters: rcl_interfaces/srv/SetParameters
/ifm3d/ods/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
Service Clients:
Action Servers:
Action Clients:
```