add launch file

2023-04-17 14:46:59 +00:00
parent 396e735173
commit bf9a652c82
273 changed files with 17190 additions and 20 deletions
--- a/src/beacon_positioning/launch/beacon_positioning_launch.py
+++ b/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"}
+            ]
+        )
+
+    ])