bringup : Create bringup package and launch script

ros2_ws/src/bringup/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

ros2_ws/src/bringup/launch/bringup_launch.py

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+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution, TextSubstitution
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='macro_sim',
+            executable='macro_sim',
+            name='macro_sim',
+            output='screen',
+            parameters=[]
+        ),
+        Node(
+            package='rover_fsm',
+            executable='rover_fsm',
+            name='rover_fsm',
+            output='screen',
+            parameters=[]
+        ),
+        Node(
+            package='rover',
+            executable='rover',
+            name='rover',
+            output='screen',
+            parameters=[]
+        ),
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([
+              PathJoinSubstitution([FindPackageShare('work_bt'), 'launch', 'excavator_bt_launch.py'])
+            ])
+        )
+    ])

ros2_ws/src/bringup/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>bringup</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">spaceros-user</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>macro_sim</depend>
+  <depend>rover</depend>
+  <depend>rover_fsm</depend>
+  <depend>work_bt</depend>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>