Add launch file

.gitignore

@@ -10,4 +10,10 @@
 # External packages
 **/mocap_msgs/
 **/mocap4r2/
-**/mocap4ros2_optitrack/
+**/mocap4ros2_optitrack/
+**/ros_phoenix/*
+
+# Maintain version control of launch files
+!**/ros_phoenix/launch/
+**/ros_phoenix/launch/*
+!**/ros_phoenix/launch/trunk.launch.py

stack/motors/src/interfaces/CMakeLists.txt

@@ -24,7 +24,6 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/AllMotorsStatus.msg"
   "msg/SingleMotorControl.msg"
   "msg/SingleMotorStatus.msg"
-  "srv/MPCCommand.srv"
 )
 
 if(BUILD_TESTING)

stack/motors/src/ros_phoenix/launch/trunk.launch.py

@@ -0,0 +1,55 @@
+import launch
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+
+def generate_launch_description():
+    """Generate trunk motors launch description with all motors."""
+    container = ComposableNodeContainer(
+        name="PhoenixContainer",
+        namespace="",
+        package="ros_phoenix",
+        executable="phoenix_container",
+        parameters=[{"interface": "can0"}],
+        composable_node_descriptions=[
+            ComposableNode(
+                package="ros_phoenix",
+                plugin="ros_phoenix::TalonSRX",
+                name="talon1",
+                parameters=[{"id": 1, "P": 1.0, "D": 0.001, "period_ms": 1000, "watchdog_ms": 2000}],
+            ),
+            ComposableNode(
+                package="ros_phoenix",
+                plugin="ros_phoenix::TalonSRX",
+                name="talon2",
+                parameters=[{"id": 2, "P": 1, "D": 0.0, "period_ms": 1000, "watchdog_ms": 2000}],
+            ),
+            ComposableNode(
+                package="ros_phoenix",
+                plugin="ros_phoenix::TalonSRX",
+                name="talon3",
+                parameters=[{"id": 3, "P": 0.1, "D": 0.001, "period_ms": 1000, "watchdog_ms": 2000}],
+            ),
+            ComposableNode(
+                package="ros_phoenix",
+                plugin="ros_phoenix::TalonSRX",
+                name="talon4",
+                parameters=[{"id": 4, "P": 0.1, "D": 0.001, "period_ms": 1000, "watchdog_ms": 2000}],
+            ),
+            ComposableNode(
+                package="ros_phoenix",
+                plugin="ros_phoenix::TalonSRX",
+                name="talon5",
+                parameters=[{"id": 5, "P": 0.1, "D": 0.001, "period_ms": 1000, "watchdog_ms": 2000}],
+            ),
+            ComposableNode(
+                package="ros_phoenix",
+                plugin="ros_phoenix::TalonSRX",
+                name="talon6",
+                parameters=[{"id": 6, "P": 0.1, "D": 0.001, "period_ms": 1000, "watchdog_ms": 2000}],
+            ),
+        ],
+        output="screen",
+    )
+
+    return launch.LaunchDescription([container])