included launch for microros

rosbot_bringup/launch/combined.launch.py

@@ -0,0 +1,43 @@
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import ThisLaunchFileDir, LaunchConfiguration
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    # Declare launch arguments for the serial port and baud rate
+    declare_serial_port_arg = DeclareLaunchArgument(
+        'serial_port',
+        default_value='//dev/ttySERIAL',  # Default value, replace if needed
+        description='Serial port for micro-ROS agent'
+    )
+
+    declare_serial_baudrate_arg = DeclareLaunchArgument(
+        'serial_baudrate',
+        default_value='576000',  # Default baud rate, replace if needed
+        description='Baud rate for serial communication'
+    )
+
+    # Retrieve launch configurations
+    serial_port = LaunchConfiguration('serial_port')
+    serial_baudrate = LaunchConfiguration('serial_baudrate')
+
+    # Node configuration for micro-ROS agent
+    microros_agent_node = Node(
+        package='micro_ros_agent',
+        executable='micro_ros_agent',
+        arguments=['serial', '-D', serial_port, '-b', serial_baudrate],
+        output='screen'
+    )
+
+    # Include bringup.launch.py
+    bringup_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/bringup.launch.py'])
+    )
+
+    return LaunchDescription([
+        declare_serial_port_arg,
+        declare_serial_baudrate_arg,
+        microros_agent_node,
+        bringup_launch
+    ])