init

CMakeLists.txt

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.8)
+project(ghost_bringup)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()

launch/ghost_run.launch.xml

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+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+  <!-- ssy_angle_control: 3 nodes -->
+  <node pkg="can_node" name="can_node" exec="can_node" output="screen"/>
+  <node pkg="speed_control" name="speed_control" exec="speed_control" output="screen"/>
+  <node pkg="control_node" name="control_node" exec="control_node" output="screen"/>
+
+  <!-- curise_sensor: encoder wheel speed publisher -->
+  <include file="$(find-pkg-share cruise_wheel_speed_pkg)/encoder_wheel_speed_publisher.py"/>
+
+  <!-- location-eagleye: eagleye_rt -->
+  <include file="$(find-pkg-share eagleye_rt)/launch/eagleye_rt.launch.xml"/>
+</launch>

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>ghost_bringup</name>
+  <version>0.0.1</version>
+  <description>Ghost multi-node bringup launch</description>
+  <maintainer email="user@todo.todo">user</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>can_node</exec_depend>
+  <exec_depend>speed_control</exec_depend>
+  <exec_depend>control_node</exec_depend>
+  <exec_depend>cruise_wheel_speed_pkg</exec_depend>
+  <exec_depend>eagleye_rt</exec_depend>
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>