Update launch file, configuration and then README to match (#20)

Update launch file, configuration and readme

massrobotics_amr_sender_py/README.md

@@ -24,7 +24,7 @@ mkdir -p ~/ros2_ws/src && cd ros2_ws/
 # Clone the repo inside the workspace
 git clone https://github.com/inorbit-ai/ros_amr_interop.git ./src
 # Install dependencies
-rosdep install --ignore-src --from-paths src/
+rosdep update && rosdep install --ignore-src --from-paths src/
 # Run the build
 colcon build --packages-select massrobotics_amr_sender
 ```
@@ -39,9 +39,8 @@ The node takes the MassRobotics AMR config file path as parameter. If not provid
 ```bash
 # Remember to source the ROS2 environment from the binary installation or your workspace overlay
 source install/setup.bash
-# Run the node pointing to your configuration file
-ros2 run massrobotics_amr_sender massrobotics_amr_node \
-    --ros-args -p config_file:=/path/to/config.yaml --log-level debug
+# Launch the node pointing to your configuration file
+ros2 launch massrobotics_amr_sender massrobotics_amr_sender.launch.py config_file:=/path/to/config.yaml
 ```
 
 

massrobotics_amr_sender_py/launch/massrobotics_amr_sender_launch.py → massrobotics_amr_sender_py/launch/massrobotics_amr_sender.launch.py

@@ -34,14 +34,15 @@
 from launch.substitutions import ThisLaunchFileDir
 from launch_ros.actions import Node
 
+from ament_index_python.packages import get_package_share_directory
 
 def generate_launch_description():
+    my_package_share_dir = get_package_share_directory('massrobotics_amr_sender')
+
     return LaunchDescription([
         DeclareLaunchArgument(
-            'mass_config_file',
-            default_value=[
-                PathJoinSubstitution([ThisLaunchFileDir(), '..', 'sample_config.yaml'])
-            ],
+            'config_file',
+            default_value=PathJoinSubstitution([my_package_share_dir, 'params', 'sample_config.yaml']),
             description='massrobotics_amr_sender node configuration file'
         ),
         Node(
@@ -50,7 +51,7 @@ def generate_launch_description():
             executable='massrobotics_amr_node',
             name='massrobotics_amr_sender',
             parameters=[
-                {'config_file': LaunchConfiguration('mass_config_file')}
+                {'config_file': LaunchConfiguration('config_file')}
             ]
         ),
     ])

massrobotics_amr_sender_py/massrobotics_amr_sender/__init__.py

@@ -92,7 +92,7 @@ def __init__(self, **kwargs) -> None:
         # Declare Node configuration parameter. Defaults to './config.yaml' if no
         # ``config_file`` parameter is provided. Provide the parameter when running
         # the node by using ``--ros-args -p config_file:=/path/to/config.yaml``
-        self.declare_parameter('config_file', './config.yaml')
+        self.declare_parameter('config_file', 'config.yaml')
         config_file_param = self.get_parameter(name='config_file')
         config_file_path = config_file_param.get_parameter_value().string_value
         self._config = self._read_config_file(config_file_path=config_file_path)

massrobotics_amr_sender_py/setup.py

@@ -1,11 +1,15 @@
 from setuptools import setup, find_packages
 import xml.etree.ElementTree as ET
+import os
+from glob import glob
 
 # Read version from ``package.xml`` file
 package_xml = ET.parse('package.xml').getroot()
 
 package_name = 'massrobotics_amr_sender'
 
+share_dir = os.path.join('share', package_name)
+
 setup(
     name=package_name,
     packages=find_packages(),
@@ -15,7 +19,11 @@
     data_files=[
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
-        ('share/' + package_name, ['package.xml']),
+        (share_dir, ['package.xml']),
+        # Include launch files
+        (share_dir, glob('launch/*.launch.py')),
+        # Sample config files
+        (os.path.join(share_dir, 'params'), [os.path.join('params', 'sample_config.yaml')]),
     ],
     install_requires=['setuptools'],
     zip_safe=True,