Add launch file for the 1dof simulation

ros2_ws/src/simple_robot_1dof/launch/forward_kinematics_1dof_launch.py

+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import ExecuteProcess
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+
+    package_name = 'simple_robot_1dof'
+
+    rviz_config_file = os.path.join(
+        get_package_share_directory(package_name),
+        'rviz',
+        'forward_kinematics_simulations.rviz'
+    )
+
+    return LaunchDescription([
+        Node(
+            package = package_name,
+            executable = 'forward_kinematics_node_1dof',
+            name =  'forward_kinematics_node',
+            output = 'screen',
+            parameters = []
+        ),
+        Node(
+            package = package_name,
+            executable = 'reference_node_1dof',
+            name =  'reference_node',
+            output = 'screen',
+            parameters = []
+        ),
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            name='rviz2',
+            output='screen',
+            arguments=['-d', rviz_config_file]
+        )
+    ])
\ No newline at end of file

ros2_ws/src/to.rviz → ros2_ws/src/simple_robot_1dof/rviz/forward_kinematics_simulations.rviz

@@ -6,9 +6,9 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
+        - /Path1
         - /Marker1
         - /Marker1/Topic1
-        - /Path1
       Splitter Ratio: 0.5
     Tree Height: 696
   - Class: rviz_common/Selection
@@ -50,19 +50,6 @@ Visualization Manager:
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
       Value: true
-    - Class: rviz_default_plugins/Marker
-      Enabled: true
-      Name: Marker
-      Namespaces:
-        "": true
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        Filter size: 10
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /simple_robot/visualization_marker
-      Value: true
     - Alpha: 1
       Buffer Length: 1
       Class: rviz_default_plugins/Path
@@ -91,6 +78,19 @@ Visualization Manager:
         Reliability Policy: Reliable
         Value: /simple_robot/visualization_path
       Value: true
+    - Class: rviz_default_plugins/Marker
+      Enabled: true
+      Name: Marker
+      Namespaces:
+        "": true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /simple_robot/visualization_marker
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -137,25 +137,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 6.6957197189331055
+      Distance: 4.086756229400635
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: -0.861002504825592
-        Y: 0.12668320536613464
-        Z: 0.19602636992931366
+        X: 0
+        Y: 0
+        Z: 0
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 1.2197964191436768
+      Pitch: 1.5697963237762451
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 4.693583011627197
+      Yaw: 4.688580513000488
     Saved: ~
 Window Geometry:
   Displays:
@@ -173,5 +173,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1908
-  X: -75
-  Y: -25
+  X: 0
+  Y: 0

ros2_ws/src/simple_robot_1dof/setup.py

@@ -10,6 +10,8 @@ setup(
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
+        ('share/' + package_name + '/launch', ['launch/forward_kinematics_1dof_launch.py']),
+        ('share/' + package_name + '/rviz', ['rviz/forward_kinematics_simulations.rviz']),
     ],
     install_requires=['setuptools'],
     zip_safe=True,
@@ -20,8 +22,10 @@ setup(
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            'publisher = simple_robot_1dof.reference_node_1dof:main',
-            'subscriber = simple_robot_1dof.forward_kinematics_node_1dof:main',
+            #'publisher = simple_robot_1dof.reference_node_1dof:main',
+            #'subscriber = simple_robot_1dof.forward_kinematics_node_1dof:main',
+            'forward_kinematics_node_1dof = simple_robot_1dof.forward_kinematics_node_1dof:main',
+            'reference_node_1dof = simple_robot_1dof.reference_node_1dof:main',
         ],
     },
 )