Add launch file for cerebri.

Signed-off-by: James Goppert <[email protected]>

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(cerebri_bringup)
+find_package(ament_cmake REQUIRED)
+
+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)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  #set(ament_cmake_copyright_FOUND TRUE)
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+
+ament_package()

launch/cerebri.launch.py

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+from os import environ
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch.actions import ExecuteProcess
+
+
+ARGUMENTS = [
+]
+
+def generate_launch_description():
+
+    cerebri_bin = environ.get('CEREBRI_BINARY')
+    cerebri_cmd = f"{cerebri_bin} -attach_uart_cmd='xterm -fg white -bg black -e screen %s &'"
+    cerebri = LaunchDescription([
+        ExecuteProcess(
+            cmd=cerebri_cmd.split(),
+            output="log",
+            shell=True),
+    ])
+
+    return LaunchDescription(ARGUMENTS + [
+        cerebri,
+    ])

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>cerebri_bringup</name>
+  <version>0.0.0</version>
+  <description>Cerebri launch files</description>
+  <maintainer email="[email protected]">cogni</maintainer>
+  <license>Apache 2.0</license>
+
+  <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>