From 224288aef8972d3babcf12810717ef87708d1ad4 Mon Sep 17 00:00:00 2001
From: fmessmer <felixmessmer@gmail.com>
Date: Mon, 10 Jul 2023 16:09:59 +0200
Subject: [PATCH 1/2] add launch file for action_bridges used in amr scenarios

---
 CMakeLists.txt                     |  5 +++++
 launch/amr_action_bridge_launch.py | 29 +++++++++++++++++++++++++++++
 package.xml                        |  2 ++
 3 files changed, 36 insertions(+)
 create mode 100644 launch/amr_action_bridge_launch.py

diff --git a/CMakeLists.txt b/CMakeLists.txt
index cbf89cca..01d44b56 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -319,3 +319,8 @@ install(
   DIRECTORY resource
   DESTINATION share/${PROJECT_NAME}
 )
+
+install(
+  DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)
diff --git a/launch/amr_action_bridge_launch.py b/launch/amr_action_bridge_launch.py
new file mode 100644
index 00000000..e62cc62c
--- /dev/null
+++ b/launch/amr_action_bridge_launch.py
@@ -0,0 +1,29 @@
+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',  # corresponds to setting argument "--ros-args --remap __name:=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',  # corresponds to setting argument "--ros-args --remap __name:=action_bridge_execute_transferjob_flexbe"
+                respawn=True,
+                respawn_delay=1,
+                arguments=["ros1", "amr_road_network_msgs", "ExecuteTransferJob", "/execute_transferjob_flexbe"]
+            ),
+        ]
+    )
diff --git a/package.xml b/package.xml
index 4c24c522..99a89366 100644
--- a/package.xml
+++ b/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>

From f27d98c049d12ada0e7f78e818951188aab0b3d8 Mon Sep 17 00:00:00 2001
From: fmessmer <felixmessmer@gmail.com>
Date: Tue, 11 Jul 2023 14:34:13 +0200
Subject: [PATCH 2/2] fix run_tests

---
 launch/amr_action_bridge_launch.py | 29 +++++++++++++++++++++++++----
 1 file changed, 25 insertions(+), 4 deletions(-)

diff --git a/launch/amr_action_bridge_launch.py b/launch/amr_action_bridge_launch.py
index e62cc62c..76349967 100644
--- a/launch/amr_action_bridge_launch.py
+++ b/launch/amr_action_bridge_launch.py
@@ -1,3 +1,18 @@
+# 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
 
@@ -10,20 +25,26 @@ def generate_launch_description():
                 executable='action_bridge',
                 output='screen',
                 name='action_bridge_execute_transferjob',
-                namespace='action_bridge_execute_transferjob',  # corresponds to setting argument "--ros-args --remap __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"]
+                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',  # corresponds to setting argument "--ros-args --remap __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"]
+                arguments=['ros1',
+                           'amr_road_network_msgs',
+                           'ExecuteTransferJob',
+                           '/execute_transferjob_flexbe']
             ),
         ]
     )