Added launch_files

mg_bringup/launch/launch-external.py

@@ -0,0 +1,35 @@
+
+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_bt"),
+                'launch',
+                'launch.py'
+            ]),
+        ),
+        Node(
+            package="mg_planner",
+            executable="mg_planner",
+            name="mg_planner",
+            emulate_tty=True,
+            output='screen',
+        )
+    ])
+    

mg_bringup/launch/launch.py

@@ -1,6 +1,6 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction
-from launch.conditions import UnlessCondition 
+from launch.conditions import UnlessCondition, IfCondition 
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, PythonExpression 
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
@@ -26,6 +26,14 @@ def generate_launch_description():
                 'local_test': LaunchConfiguration('local_test')
             }.items()
         ),
+        IncludeLaunchDescription(
+            PathJoinSubstitution([
+                FindPackageShare("mg_lidar"),
+                'launch',
+                'launch.py'
+            ]),
+            condition=UnlessCondition(LaunchConfiguration('local_test')),
+        ),
         Node(
             package="mg_odometry",
             executable="mg_odom_publisher",
@@ -39,6 +47,22 @@ def generate_launch_description():
             emulate_tty=True,
             output='screen'
         ),
+        IncludeLaunchDescription(
+            PathJoinSubstitution([
+                FindPackageShare("mg_bt"),
+                'launch',
+                'launch.py'
+            ]),
+            condition=IfCondition(LaunchConfiguration('local_test')),
+        ),
+        Node(
+            package="mg_planner",
+            executable="mg_planner",
+            name="mg_planner",
+            emulate_tty=True,
+            condition=IfCondition(LaunchConfiguration('local_test')),
+            output='screen',
+        ),
         Node(
             package="mg_navigation",
             executable="mg_nav_server",