Initial Commit

mg_bt/launch/mg_bt_launch.py

@@ -0,0 +1,25 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, RegisterEventHandler, TimerAction
+from launch.event_handlers import OnProcessStart
+from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+from pathlib import Path
+
+def generate_launch_description():
+
+    basedir = FindPackageShare("mg_bt")
+
+    yamlBT = PathJoinSubstitution([basedir, "config/mg_bt_executor_config.yaml"])
+
+    return LaunchDescription([
+        Node(
+            package='mg_bt',
+            executable='mg_bt_executor',
+            output="screen",
+            parameters=[yamlBT]
+        ),
+    ])
+    
+