From b02f2148fb447a9a84f889bef5bb45bc6626bf3c Mon Sep 17 00:00:00 2001
From: Silas Baumann <silas.baumann@student.kit.edu>
Date: Thu, 5 Dec 2024 22:24:06 +0100
Subject: [PATCH] Added launch.py to launch all nodes simultaneously
---
my_double_integrator/launch.py | 27 +++++++++++++++++++++++++++
1 file changed, 27 insertions(+)
create mode 100644 my_double_integrator/launch.py
diff --git a/my_double_integrator/launch.py b/my_double_integrator/launch.py
new file mode 100644
index 0000000..7cd3a6f
--- /dev/null
+++ b/my_double_integrator/launch.py
@@ -0,0 +1,27 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+ return LaunchDescription([
+ Node(
+ package='my_double_integrator',
+ executable='double_integrator',
+ name='double_integrator_sim',
+ output='screen',
+ parameters=[{'update_rate': 50.0}]
+ ),
+ Node(
+ package='my_double_integrator',
+ executable='controller',
+ name='controller',
+ output='screen',
+ parameters=[{'kp': 1.0}]
+ ),
+ Node(
+ package='my_double_integrator',
+ executable='reference_position_generator',
+ name='reference_position_gen',
+ output='screen',
+ parameters=[{'rate': 1.0, 'amplitude': 1.0}]
+ ),
+ ])
--
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