Prepare general launch file to launch all robotem rovne application n…

…odes with one command.

CMakeLists.txt

@@ -45,6 +45,7 @@ ament_target_dependencies(${ROBOTEM_ROVNE_TARGET} rclcpp std_msgs std_srvs)
 ament_export_dependencies(rosidl_default_runtime)
 #######################################################################################
 install(TARGETS ${ROBOTEM_ROVNE_TARGET} DESTINATION lib/${PROJECT_NAME})
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 #######################################################################################
 ament_package()
 #######################################################################################

docker/docker-run.sh

@@ -37,7 +37,10 @@ ifconfig $CAN txqueuelen 1000
 sudo -u fio ifconfig $CAN
 
 docker run -it \
-   -u 0 \
-   --privileged \
+  --ulimit nofile=1024:1024 \
+  --rm \
+   -u 0 --privileged \
+  --device /dev/spidev0.0 \
+  -v /sys/class/gpio:/sys/class/gpio \
    --network host \
    robotem_rovne_docker $1

docker/run.sh

@@ -8,5 +8,5 @@ colcon build --packages-select robotem_rovne
 
 cd /tmp/colcon_ws
 . install/setup.sh robotem_rovne
-#ros2 launch t07_robot t07_4wd.py &
+ros2 launch robotem_rovne all.py
 #ros2 launch pika_spark_bno085_driver imu.py &

launch/all.py

@@ -0,0 +1,22 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+
+from launch_ros.actions import Node
+
+def generate_launch_description():
+
+    pkg_imu = get_package_share_directory('pika_spark_bno085_driver')
+    imu = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(os.path.join(pkg_imu, 'launch', 'imu.py'))
+    )
+
+    # Launch them all!
+    return LaunchDescription([
+        imu
+    ])