added base base_gesture_controller

launch/base_gesture_control.launch.py

@@ -0,0 +1,44 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import (
+    PathJoinSubstitution,
+    LaunchConfiguration,
+    TextSubstitution,
+)
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
+from launch_ros.descriptions import ParameterFile
+
+def generate_launch_description():
+    pkg_unity_robot_controller = FindPackageShare(package="").find("unity_robot_controller")
+
+
+    # Launch arguments
+    launch_args = [
+        DeclareLaunchArgument(
+            "use_sim_time",
+            description="Use clock from simulation",
+            default_value="True",
+        ),
+        DeclareLaunchArgument(
+            "namespace", default_value="sirius_bot", description="Top-level namespace"
+        ),
+    ]
+
+    base_gesture_control_node = Node(
+        package="unity_robot_controller",
+        executable="base_gesture_control_node",
+        name="base_gesture_control",
+        namespace=LaunchConfiguration("namespace"),
+            output="both",
+            parameters=[
+                {"fire_ext_max_capacity": 100},
+            ],
+    )
+
+    return LaunchDescription(
+        launch_args
+        + [
+            base_gesture_control_node,
+        ]
+    )