added launch file

ros2_ws/src/find-pose/CMakeLists.txt

@@ -89,7 +89,13 @@ install(TARGETS
   DESTINATION lib/${PROJECT_NAME})
 
 
-
+#############
+   ## Install ##
+   #############
+   install(PROGRAMS
+    launch/find-pose-node.py
+    DESTINATION lib/${PROJECT_NAME}
+  )
 
 
 

ros2_ws/src/find-pose/launch/find-pose-node.py

@@ -0,0 +1,31 @@
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def generate_launch_description():
+   
+    return LaunchDescription([
+
+        SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
+        SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '0'),
+
+        # Launch arguments
+        DeclareLaunchArgument('object_prefix', default_value='object', description='TF prefix of objects.'),
+       
+        DeclareLaunchArgument('rgb_topic', default_value='camera/rgb/image_rect_color', description='Image topic.'),
+        DeclareLaunchArgument('depth_topic', default_value='camera/depth_registered/image_raw', description='Registered depth topic.'),
+        DeclareLaunchArgument('camera_info_topic', default_value='camera/rgb/camera_info', description='Camera info topic.'),
+
+        # Nodes to launch
+        Node(
+            package='find-pose', executable='find_pose_node', output='screen',
+            parameters=[{
+              'object_prefix':LaunchConfiguration('object_prefix'),
+            }],
+            remappings=[
+                ('rgb/image_rect_color', LaunchConfiguration('rgb_topic')),
+                ('depth_registered/image_raw', LaunchConfiguration('depth_topic')),
+                ('depth_registered/camera_info', LaunchConfiguration('camera_info_topic'))]), 
+    ])

ros2_ws/src/find-pose/package.xml

@@ -30,6 +30,7 @@
   <exec_depend>message_filters</exec_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <exec_depend>ros2launch</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>