Add launch files

device/nucleo_communicate_py/README.md

@@ -17,4 +17,6 @@ TODO: いつかC++に書き換える
 
 ## Launches
 
-TODO
+- `main_launch.py`: `main`Executableを`device`namespace下で実行
+- `receiver_launch.py`: `receiver`Executableを`device`namespace下で実行
+- `sender_launch.py`: `sender`Executableを`device`namespace下で実行

device/nucleo_communicate_py/launch/main_launch.py

@@ -0,0 +1,11 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description() -> LaunchDescription:
+ main = Node(
+ package="nucleo_communicate_py",
+ executable="main",
+ namespace="device"
+ )
+ return LaunchDescription([main])

device/nucleo_communicate_py/launch/receiver_launch.py

@@ -0,0 +1,11 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description() -> LaunchDescription:
+ receiver = Node(
+ package="nucleo_communicate_py",
+ executable="receiver",
+ namespace="device"
+ )
+ return LaunchDescription([receiver])

device/nucleo_communicate_py/launch/sender_launch.py

@@ -0,0 +1,11 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description() -> LaunchDescription:
+ sender = Node(
+ package="nucleo_communicate_py",
+ executable="sender",
+ namespace="device"
+ )
+ return LaunchDescription([sender])

device/nucleo_communicate_py/setup.py

@@ -1,3 +1,6 @@
+import os
+from glob import glob
+
 from setuptools import find_packages, setup
 
 
@@ -11,6 +14,7 @@
  ('share/ament_index/resource_index/packages',
  ['resource/' + package_name]),
  ('share/' + package_name, ['package.xml']),
+ (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*')))
  ],
  install_requires=['setuptools'],
  zip_safe=True,