Simple ros2-controll mock setup

mg_wheel_interface/launch/launch.py

@@ -0,0 +1,47 @@
+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_wheel_interface")
+
+    urdfDescription = PathJoinSubstitution([basedir, "assets/mg_base.urdf"])
+    yamlControllers = PathJoinSubstitution([basedir, "assets/mg_base_controllers.yaml"])
+
+    urdfDescription = Command([
+        "cat ",
+        urdfDescription
+    ])
+
+    return LaunchDescription([
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            output="screen",
+            parameters=[{"robot_description": urdfDescription}]
+        ),
+        Node(
+            package="controller_manager",
+            executable="ros2_control_node",
+            parameters=[yamlControllers],
+            output="screen"
+        ),
+        Node(
+            package='controller_manager',
+            executable='spawner',
+            output="screen",
+            arguments=["joint_state_publisher"]
+        ),
+        Node(
+            package="controller_manager",
+            executable="spawner",
+            arguments=["diffdrive_controller", "--param-file", yamlControllers],
+        ) 
+    ])
+