add launch file

src/beacon_positioning/CMakeLists.txt

@@ -39,6 +39,11 @@ target_include_directories(tracker_position PUBLIC
 install(TARGETS tracker_position
   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/beacon_positioning/launch/beacon_positioning_launch.py

@@ -0,0 +1,25 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package="beacon_positioning",
+            executable="tracker_position",
+            name="beacon_tracker_0",
+            parameters=[
+                {"tracker_serial_port": "/dev/ttyUSB0"}
+            ]
+        ),
+        Node(
+            package="beacon_positioning",
+            executable="tracker_position",
+            name="beacon_tracker_1",
+            output="screen",
+            emulate_tty=True,
+            parameters=[
+                {"tracker_serial_port": "/dev/ttyUSB1"}
+            ]
+        )
+
+    ])