From f01e80de8d0b46037c605688cf742c154d0dad1f Mon Sep 17 00:00:00 2001
From: Alexander Entinger <consulting@lxrobotics.com>
Date: Mon, 13 May 2024 07:03:40 +0200
Subject: [PATCH] Prepare general launch file to launch all robotem rovne
 application nodes with one command.

---
 CMakeLists.txt       |  1 +
 docker/docker-run.sh |  7 +++++--
 docker/run.sh        |  2 +-
 launch/all.py        | 22 ++++++++++++++++++++++
 4 files changed, 29 insertions(+), 3 deletions(-)
 create mode 100644 launch/all.py

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3a76d7f..91bf4e5 100644
--- a/CMakeLists.txt
+++ b/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()
 #######################################################################################
diff --git a/docker/docker-run.sh b/docker/docker-run.sh
index bc83449..ec115fc 100644
--- a/docker/docker-run.sh
+++ b/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
diff --git a/docker/run.sh b/docker/run.sh
index f79cfa9..9a15ad5 100755
--- a/docker/run.sh
+++ b/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 &
diff --git a/launch/all.py b/launch/all.py
new file mode 100644
index 0000000..e504e84
--- /dev/null
+++ b/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
+    ])