Merge pull request #12 from fmessmer/feature/amr_action_bridge_launch

add launch file for action_bridges used in amr scenarios

CMakeLists.txt

@@ -319,3 +319,8 @@ install(
   DIRECTORY resource
   DESTINATION share/${PROJECT_NAME}
 )
+
+install(
+  DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)

launch/amr_action_bridge_launch.py

@@ -0,0 +1,50 @@
+# Copyright 2023 4am Robotics GmbH
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    return LaunchDescription(
+        [
+            Node(
+                package='ros1_bridge',
+                executable='action_bridge',
+                output='screen',
+                name='action_bridge_execute_transferjob',
+                namespace='action_bridge_execute_transferjob',
+                respawn=True,
+                respawn_delay=1,
+                arguments=['ros2',
+                           'amr_road_network_msgs',
+                           'action/ExecuteTransferJob',
+                           '/execute_transferjob']
+            ),
+            Node(
+                package='ros1_bridge',
+                executable='action_bridge',
+                output='screen',
+                name='action_bridge_execute_transferjob_flexbe',
+                namespace='action_bridge_execute_transferjob_flexbe',
+                respawn=True,
+                respawn_delay=1,
+                arguments=['ros1',
+                           'amr_road_network_msgs',
+                           'ExecuteTransferJob',
+                           '/execute_transferjob_flexbe']
+            ),
+        ]
+    )

package.xml

@@ -44,6 +44,8 @@
   <exec_depend>rcutils</exec_depend>
   <exec_depend>std_msgs</exec_depend>
 
+  <exec_depend>ros2launch</exec_depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>demo_nodes_cpp</test_depend>