add launch file

src/object_detection/CMakeLists.txt

@@ -48,6 +48,11 @@ install(TARGETS
   DESTINATION lib/${PROJECT_NAME}
 )
 
+install(
+  DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   # the following line skips the linter which checks for copyrights

src/object_detection/launch/object_detection_launch.py

@@ -0,0 +1,15 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package="object_detection",
+            executable="multiflex_reader",
+            name="multiflex_reader",
+            parameters=[
+                {"serial_port": "/dev/ttyACM0"}
+            ]
+        )
+
+    ])

src/object_detection/src/multiflex_reader.cpp

@@ -21,8 +21,12 @@ public:
   MultiflexReader()
       : Node("multiflex_reader")
   {
+    rcl_interfaces::msg::ParameterDescriptor serial_port_descriptor = rcl_interfaces::msg::ParameterDescriptor{};
+    serial_port_descriptor.description = "Serial port of the USB port that the multiflex PCB is connected to.";
+    this->declare_parameter("serial_port", "/dev/ttyACM0", serial_port_descriptor);
+
     factory = terabee::ITerarangerFactory::getFactory();
-    multiflex = factory->createTerarangerMultiflex("/dev/ttyACM0");
+    multiflex = factory->createTerarangerMultiflex(this->get_parameter("serial_port").as_string());
 
     if (!multiflex)
     {
@@ -54,7 +58,7 @@ private:
   {
     terabee::DistanceData data = multiflex->getDistance();
     auto msg = object_detection::msg::MultiflexReading();
-    for (int i = 0; i < data.size(); i++)
+    for (size_t i = 0; i < data.size(); i++)
     {
       msg.distance_data[i] = data.distance[i];
     }