From 427f6a596dd5ceec7826eb8def77354b2166168e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Mon, 17 Apr 2023 10:50:48 +0200
Subject: [PATCH] update: launch file added

---
 CMakeLists.txt          |  7 +++++++
 launch/teleop.launch.py | 24 ++++++++++++++++++++++++
 package.xml             |  4 ++--
 3 files changed, 33 insertions(+), 2 deletions(-)
 create mode 100644 launch/teleop.launch.py

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 83db85b..85d1db1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,10 +12,17 @@ find_package(segway_msgs REQUIRED)
 
 ament_python_install_package(${PROJECT_NAME})
 
+# Link libraries
+target_link_libraries(rmp220_teleop)
+
 install(PROGRAMS
   rmp220_teleop/rmp220_teleop.py
   DESTINATION lib/${PROJECT_NAME})
 
+# Install launch files
+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
diff --git a/launch/teleop.launch.py b/launch/teleop.launch.py
new file mode 100644
index 0000000..1f9d68f
--- /dev/null
+++ b/launch/teleop.launch.py
@@ -0,0 +1,24 @@
+<launch>
+
+  <!-- Start the segwayrmp SmartCar node -->
+  <node
+    pkg="segwayrmp"
+    type="SmartCar"
+    name="SmartCar"
+    output="screen"/>
+
+  <!-- Start the joy_teleop node -->
+  <node
+    pkg="joy"
+    type="joy_teleop"
+    name="joy_teleop"
+    output="screen"/>
+
+  <!-- Start the rmp220_teleop.py node -->
+  <node
+    pkg="rmp220_teleop"
+    type="rmp220_teleop.py"
+    name="rmp220_teleop"
+    output="screen"/>
+
+</launch>
diff --git a/package.xml b/package.xml
index 6b62b2b..6b8578d 100644
--- a/package.xml
+++ b/package.xml
@@ -2,9 +2,9 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rmp220_teleop</name>
-  <version>0.0.0</version>
+  <version>0.0.2</version>
   <description>TODO: Package description</description>
-  <maintainer email="bjoern.ellensohn@gmail.com">bjorn</maintainer>
+  <maintainer email="bjoern.ellensohn@gmail.com">bjoern</maintainer>
   <license>TODO: License declaration</license>
 
   <depend>rclpy</depend>