#35 Added a launch file and updated cmake

ros2_ws/src/cpp_package/CMakeLists.txt

@@ -11,6 +11,46 @@ find_package(ament_cmake REQUIRED)
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
 
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(launch REQUIRED)
+find_package(launch_ros REQUIRED)
+
+add_executable(camera_node src/camera_node.cpp)
+ament_target_dependencies(camera_node
+  rclcpp
+  std_msgs
+  sensor_msgs
+)
+
+add_executable(proxy_node src/proxy_node.cpp)
+ament_target_dependencies(proxy_node
+  rclcpp
+  std_msgs
+)
+
+add_executable(inference_node src/inference_node.cpp)
+ament_target_dependencies(inference_node
+  rclcpp
+  std_msgs
+)
+
+add_executable(extermination_node src/extermination_node.cpp)
+ament_target_dependencies(extermination_node
+  rclcpp
+  std_msgs
+)
+
+install(TARGETS
+  camera_node
+  proxy_node
+  inference_node
+  extermination_node
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   # the following line skips the linter which checks for copyrights

ros2_ws/src/cpp_package/launch/launch.py

@@ -0,0 +1,72 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        # Declare launch arguments to allow for parameter substitution
+        DeclareLaunchArgument('camera_side', default_value='left', description='Choose left or right camera'),
+        DeclareLaunchArgument('shift_constant', default_value='0', description='Shift value for ROI'),
+        DeclareLaunchArgument('roi_dimensions', default_value='[0, 0, 100, 100]', description='ROI dimensions as [x1, y1, x2, y2]'),
+
+        # Proxy Node argument
+        DeclareLaunchArgument('usb_port', default_value='/dev/ttyACM0', description='USB port for the serial connection'),
+
+        # Inference Node arguments
+        DeclareLaunchArgument('weights_path', default_value='./src/cpp_package/cpp_package/scripts/best.onnx', description='Path to the weights file'),
+        DeclareLaunchArgument('precision', default_value='fp32', description='Precision for the inference model (e.g., fp32, fp16)'),
+
+        # Extermination Node arguments
+        DeclareLaunchArgument('use_display_node', default_value='True', description='Enable display node for visualization'),
+        DeclareLaunchArgument('camera_side_exterm', default_value='left', description='Camera side for extermination node (left or right)'),
+
+        # Camera Node
+        Node(
+            package='cpp_package',  # Replace with your package name
+            executable='CameraNode',  # The C++ executable name
+            name='camera_node',
+            parameters=[
+                {'camera_side': LaunchConfiguration('camera_side')},
+                {'shift_constant': LaunchConfiguration('shift_constant')},
+                {'roi_dimensions': LaunchConfiguration('roi_dimensions')}
+            ],
+            output='screen'
+        ),
+
+        # Proxy Node
+        Node(
+            package='cpp_package',  # Replace with your package name
+            executable='ProxyNode',  # The C++ executable name
+            name='proxy_node',
+            parameters=[
+                {'usb_port': LaunchConfiguration('usb_port')}
+            ],
+            output='screen'
+        ),
+
+        # Inference Node
+        Node(
+            package='cpp_package',  # Replace with your package name
+            executable='InferenceNode',  # The C++ executable name
+            name='inference_node',
+            parameters=[
+                {'weights_path': LaunchConfiguration('weights_path')},
+                {'precision': LaunchConfiguration('precision')},
+                {'camera_side': LaunchConfiguration('camera_side')}
+            ],
+            output='screen'
+        ),
+
+        # Extermination Node
+        Node(
+            package='cpp_package',  # Replace with your package name
+            executable='ExterminationNode',  # The C++ executable name
+            name='extermination_node',
+            parameters=[
+                {'use_display_node': LaunchConfiguration('use_display_node')},
+                {'camera_side': LaunchConfiguration('camera_side_exterm')}
+            ],
+            output='screen'
+        )
+    ])