Made toid_vision into composable node

toid_vision/launch/launch.py

@@ -0,0 +1,43 @@
+import launch
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+from launch_ros.substitutions import FindPackageShare
+import os
+
+def generate_launch_description():
+    """Generate launch description with multiple components."""
+
+    vision_share = FindPackageShare("").find("toid_vision")
+    camera_info = os.path.join(vision_share, 'config/camera_info.yaml')
+
+
+    container = ComposableNodeContainer(
+            name='vision_container',
+            namespace='',
+            package='rclcpp_components',
+            executable='component_container_mt',
+            composable_node_descriptions=[
+                ComposableNode(
+                    package='toid_vision',
+                    plugin='toid::NutDetector',
+                    name='nut_detector',
+                    parameters= [{
+                        'is_blue': True,
+                    }]),
+                ComposableNode(
+                    package='camera_ros',
+                    plugin='camera::CameraNode',
+                    name='camera_driver',
+                    parameters= [{
+                        'width': 1640,
+                        'height': 1242,
+                        'orientation': 180,
+                        'camera': 0,
+                        'frame_id': 'camera',
+                        'camera_info_url': "file://" + camera_info
+                    }])
+            ],
+            output='screen',
+    )
+
+    return launch.LaunchDescription([container])