devided launches

launch/joy.launch.py

@@ -0,0 +1,44 @@
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
+from launch.substitutions import (
+    PathJoinSubstitution,
+    LaunchConfiguration,
+)
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+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(
+            "namespace", default_value="sirius_bot", description="Top-level namespace"
+        ),
+        # DeclareLaunchArgument(
+        #     "start_rviz", default_value="True", description="Use basic rviz"
+        # ),
+    ]
+
+    joy_config = PathJoinSubstitution([pkg_unity_robot_controller, "config", "joy_config.yaml"])
+
+    joy_node = Node(
+        package="joy",
+        executable="joy_node",
+        name="joy",
+        namespace=LaunchConfiguration("namespace"),
+        output="both",
+        parameters=[
+            ParameterFile(joy_config),
+        ],
+    )
+
+
+    return LaunchDescription(
+        launch_args
+        + [
+            joy_node,
+            ]
+    )

launch/wave_rover.launch.py

@@ -8,8 +8,11 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_ros.substitutions import FindPackageShare
 from launch_ros.actions import Node
 from launch_ros.descriptions import ParameterFile
+from launch.conditions import IfCondition
 
 def generate_launch_description():
+
+    pkg_wave_rover_controller = FindPackageShare(package="").find("wave_rover_controller")
     pkg_unity_robot_controller = FindPackageShare(package="").find("unity_robot_controller")
 
     # Launch arguments
@@ -22,12 +25,19 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "namespace", default_value="sirius_bot", description="Top-level namespace"
         ),
-        # DeclareLaunchArgument(
-        #     "start_rviz", default_value="True", description="Use basic rviz"
-        # ),
+        DeclareLaunchArgument(
+            "use_joy", default_value="False", description="Use joystick for control"
+        ),
     ]
 
-    joy_config = PathJoinSubstitution([pkg_unity_robot_controller, "config", "joy_config.yaml"])
+
+    joy = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            PathJoinSubstitution([pkg_wave_rover_controller, "launch", "joy.launch.py"])
+        ),
+        launch_arguments={"namespace": LaunchConfiguration("namespace")}.items(),
+        condition=IfCondition(LaunchConfiguration('use_joy'))
+    )
 
     model = LaunchConfiguration("joy_model")
     joy_params = PathJoinSubstitution([pkg_unity_robot_controller,
@@ -35,16 +45,16 @@ def generate_launch_description():
                                        model
                                        ])
 
-    joy_node = Node(
-        package="joy",
-        executable="joy_node",
-        name="joy",
-        namespace=LaunchConfiguration("namespace"),
-        output="both",
-        parameters=[
-            ParameterFile(joy_config),
-        ],
-    )
+    # joy_node = Node(
+    #     package="joy",
+    #     executable="joy_node",
+    #     name="joy",
+    #     namespace=LaunchConfiguration("namespace"),
+    #     output="both",
+    #     parameters=[
+    #         ParameterFile(joy_config),
+    #     ],
+    # )
 
     joy_wave_rover_controller_node = Node(
         package="wave_rover_controller",
@@ -57,11 +67,10 @@ def generate_launch_description():
             {'serial_port': '/dev/ttyUSB0'}]
     )
 
-
     return LaunchDescription(
         launch_args
         + [
-            joy_node,
+            joy,
             joy_wave_rover_controller_node,
             ]
     )