From 8fd8662e0dd2670074c22bafb821e9a925cfc549 Mon Sep 17 00:00:00 2001
From: Sem van der Hoeven <semmer99@gmail.com>
Date: Mon, 24 Apr 2023 12:21:43 +0200
Subject: [PATCH] add launch file

---
 src/object_detection/CMakeLists.txt               |  5 +++++
 .../launch/object_detection_launch.py             | 15 +++++++++++++++
 src/object_detection/src/multiflex_reader.cpp     |  8 ++++++--
 3 files changed, 26 insertions(+), 2 deletions(-)
 create mode 100644 src/object_detection/launch/object_detection_launch.py

diff --git a/src/object_detection/CMakeLists.txt b/src/object_detection/CMakeLists.txt
index c47c2067..d5009b96 100644
--- a/src/object_detection/CMakeLists.txt
+++ b/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
diff --git a/src/object_detection/launch/object_detection_launch.py b/src/object_detection/launch/object_detection_launch.py
new file mode 100644
index 00000000..862f52b7
--- /dev/null
+++ b/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"}
+            ]
+        )
+
+    ])
\ No newline at end of file
diff --git a/src/object_detection/src/multiflex_reader.cpp b/src/object_detection/src/multiflex_reader.cpp
index e07ac8d9..35c370b7 100644
--- a/src/object_detection/src/multiflex_reader.cpp
+++ b/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];
     }