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',
+        )
+    ])
+