Merge pull request #42 from deepinbubblegum/launch_develop

Launch develop

Author: flynneva

Diff for: README.md

@@ -121,6 +121,11 @@ Run with customized parameter file:
 
     ros2 run bno055 bno055 --ros-args --params-file ./src/bno055/bno055/params/bno055_params.yaml
 
+Run launch file:
+
+    ros2 launch bno055 bno055.launch.py
+    
+
 ### Performing flake8 Linting
 
 To perform code linting with [flake8](https://gitlab.com/pycqa/flake8) just perform:

Diff for: launch/bno055.launch.py

@@ -0,0 +1,19 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node
+def generate_launch_description():
+    ld = LaunchDescription()
+    config = os.path.join(
+        get_package_share_directory('bno055'),
+        'config',
+        'bno055_params.yaml'
+        )
+        
+    node=Node(
+        package = 'bno055',
+        executable = 'bno055',
+        parameters = [config]
+    )
+    ld.add_action(node)
+    return ld

Diff for: setup.py

@@ -1,3 +1,5 @@
+import os
+from glob import glob
 from setuptools import find_packages
 from setuptools import setup
 
@@ -16,6 +18,8 @@
         ('share/ament_index/resource_index/packages',
          ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
+        (os.path.join('share', package_name, 'config'), glob('bno055/params/*.yaml'))
     ],
     install_requires=['setuptools'],
     zip_safe=True,