From 2675c4dd487850c08569bde5af446f5a95eb8f6f Mon Sep 17 00:00:00 2001
From: Pimpest <82343504+Pimpest@users.noreply.github.com>
Date: Sat, 22 Feb 2025 22:57:39 +0100
Subject: [PATCH] Added general launch file

---
 mg_bringup/CMakeLists.txt   | 13 ++++++++++
 mg_bringup/launch/launch.py | 50 +++++++++++++++++++++++++++++++++++++
 mg_bringup/package.xml      | 20 +++++++++++++++
 3 files changed, 83 insertions(+)
 create mode 100644 mg_bringup/CMakeLists.txt
 create mode 100644 mg_bringup/launch/launch.py
 create mode 100644 mg_bringup/package.xml

diff --git a/mg_bringup/CMakeLists.txt b/mg_bringup/CMakeLists.txt
new file mode 100644
index 0000000..d19920b
--- /dev/null
+++ b/mg_bringup/CMakeLists.txt
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 3.8)
+set(CMAKE_EXPORT_COMPILE_COMMANDS OFF)
+
+project(mg_bringup)
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+ament_package()
diff --git a/mg_bringup/launch/launch.py b/mg_bringup/launch/launch.py
new file mode 100644
index 0000000..9b15a96
--- /dev/null
+++ b/mg_bringup/launch/launch.py
@@ -0,0 +1,50 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction
+from launch.conditions import UnlessCondition 
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression 
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+
+    is_local_test = DeclareLaunchArgument(
+        'local_test',
+        default_value="False",
+        description='Launch with simulated components'
+    )
+
+    return LaunchDescription([
+        is_local_test,
+        IncludeLaunchDescription(
+            PathJoinSubstitution([
+                FindPackageShare("mg_control"),
+                'launch',
+                'launch.py'
+            ]),
+            launch_arguments={
+                'local_test': LaunchConfiguration('local_test')
+            }.items()
+        ),
+        Node(
+            package="mg_odometry",
+            executable="mg_odom_publisher",
+            name="mg_odom_publisher",
+            condition=UnlessCondition(LaunchConfiguration('local_test')),
+            parameters=[{
+                'odom': "odom",
+                'serial_path': "/dev/ttyACM1",
+            }],
+
+            emulate_tty=True,
+            output='screen'
+        ),
+        Node(
+            package="mg_navigation",
+            executable="mg_nav_server",
+            name="mg_nav_server",
+            emulate_tty=True,
+            output='screen',
+        )
+    ])
+    
diff --git a/mg_bringup/package.xml b/mg_bringup/package.xml
new file mode 100644
index 0000000..267f93c
--- /dev/null
+++ b/mg_bringup/package.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>mg_bringup</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="82343504+Pimpest@users.noreply.github.com">Pimpest</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>launch</depend>
+  <depend>launch_ros</depend>
+  <depend>mg_control</depend>
+  <depend>mg_odometry</depend>
+  <depend>mg_navigation</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>