crazyflie_examples: add launch.py

crazyflie_examples/launch/launch.py

@@ -0,0 +1,50 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+ script = LaunchConfiguration('script')
+ backend = LaunchConfiguration('backend')
+
+ script_launch_arg = DeclareLaunchArgument(
+ 'script'
+ )
+
+ backend_launch_arg = DeclareLaunchArgument(
+ 'backend',
+ default_value='cpp'
+ )
+
+ crazyflie = IncludeLaunchDescription(
+ PythonLaunchDescriptionSource([os.path.join(
+ get_package_share_directory('crazyflie'), 'launch'),
+ '/launch.py']),
+ launch_arguments={
+ 'backend': backend,
+ }.items()
+ )
+
+ example_node = Node(
+ package='crazyflie_examples',
+ executable=script,
+ name=script,
+ parameters=[{
+ 'use_sim_time': PythonExpression(["'", backend, "' == 'sim'"]),
+ }]
+ )
+
+ return LaunchDescription([
+ script_launch_arg,
+ backend_launch_arg,
+ crazyflie,
+ example_node
+ ])

docs2/usage.rst

@@ -127,6 +127,12 @@ The configuration of the simulation (physics simulator, controller, etc.) can be
 
 Example:
 
+.. code-block:: bash
+
+ [terminal]$ ros2 launch crazyflie_examples launch.py script:=hello_world backend:=sim
+
+which is a short-hand for the following two commands:
+
 .. code-block:: bash
 
  [terminal1]$ ros2 launch crazyflie launch.py backend:=sim
@@ -156,6 +162,12 @@ You may run the script multiple times or different scripts while leaving the ser
  [terminal1]$ ros2 launch crazyflie launch.py
  [terminal2]$ ros2 run crazyflie_examples hello_world
 
+If you only want to run a single script once, you can also use:
+
+.. code-block:: bash
+
+ [terminal]$ ros2 launch crazyflie_examples launch.py script:=hello_world
+
 Swarm Management
 ----------------