From ecfff8fab1bff5b03c4f9eecc723a2b2505a4638 Mon Sep 17 00:00:00 2001
From: Sharwin24 <sharwin24@gmail.com>
Date: Sat, 5 Jul 2025 20:01:03 -0500
Subject: [PATCH 1/3] Created python launch file

---
 delta_robot/launch/delta_robot.launch.py | 47 +++++++++++++++++++++++-
 1 file changed, 46 insertions(+), 1 deletion(-)

diff --git a/delta_robot/launch/delta_robot.launch.py b/delta_robot/launch/delta_robot.launch.py
index 6c118ca..7c7db2f 100644
--- a/delta_robot/launch/delta_robot.launch.py
+++ b/delta_robot/launch/delta_robot.launch.py
@@ -1 +1,46 @@
-# Launch file for Delta Robot
+from launch import LaunchDescription
+from launch_ros.actions import Node
+import os
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    config_file = os.path.join(
+        get_package_share_directory('delta_robot'),
+        'config',
+        'delta_config.yaml'
+    )
+
+    return LaunchDescription([
+        Node(
+            package='delta_robot',
+            executable='kinematics',
+            name='kinematics',
+            output='screen',
+            parameters=[config_file],
+        ),
+        Node(
+            package='delta_robot',
+            executable='motion_planner',
+            name='motion_planner',
+            output='screen',
+        ),
+        Node(
+            package='delta_robot',
+            executable='motor_controller',
+            name='motor_controller',
+            output='screen',
+        ),
+        Node(
+            package='delta_robot',
+            executable='range_scanner',
+            name='range_scanner',
+            output='screen',
+        ),
+        Node(
+            package='delta_robot',
+            executable='trajectory_generator',
+            name='trajectory_generator',
+            output='screen',
+        ),
+    ])

From ceab8abf52a9c3b84769241c6584c54a5d6f1625 Mon Sep 17 00:00:00 2001
From: Sharwin24 <sharwin24@gmail.com>
Date: Sat, 5 Jul 2025 20:08:17 -0500
Subject: [PATCH 2/3] Deleted old launch files and created new python launch
 file

---
 .../launch/delta_motion_planner.launch.xml    |  7 -----
 delta_robot/launch/delta_robot.launch.py      | 27 +++++++++++++------
 delta_robot/launch/kinematics.launch.xml      |  5 ----
 delta_robot/launch/motor_control.launch.xml   |  3 ---
 delta_robot/launch/traj_gen.launch.xml        |  3 ---
 5 files changed, 19 insertions(+), 26 deletions(-)
 delete mode 100644 delta_robot/launch/delta_motion_planner.launch.xml
 delete mode 100644 delta_robot/launch/kinematics.launch.xml
 delete mode 100644 delta_robot/launch/motor_control.launch.xml
 delete mode 100644 delta_robot/launch/traj_gen.launch.xml

diff --git a/delta_robot/launch/delta_motion_planner.launch.xml b/delta_robot/launch/delta_motion_planner.launch.xml
deleted file mode 100644
index 891e51c..0000000
--- a/delta_robot/launch/delta_motion_planner.launch.xml
+++ /dev/null
@@ -1,7 +0,0 @@
-<launch>
-  <node pkg="deltarobot_motion_planner" exec="delta_motion_planner" name="delta_motion_planner" />
-  <include file="$(find-pkg-share deltarobot_trajectory_generator)/launch/traj_gen.launch.xml"/>
-  <include file="$(find-pkg-share deltarobot_kinematics)/launch/kinematics.launch.xml"/>
-  <include file="$(find-pkg-share deltarobot_motor_control)/launch/motor_control.launch.xml"/>
-  <include file="$(find-pkg-share delta_robot_sensors)/launch/sensors.launch.xml"/>
-</launch>
\ No newline at end of file
diff --git a/delta_robot/launch/delta_robot.launch.py b/delta_robot/launch/delta_robot.launch.py
index 7c7db2f..8956454 100644
--- a/delta_robot/launch/delta_robot.launch.py
+++ b/delta_robot/launch/delta_robot.launch.py
@@ -1,23 +1,25 @@
 from launch import LaunchDescription
 from launch_ros.actions import Node
-import os
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import XMLLaunchDescriptionSource
 from ament_index_python.packages import get_package_share_directory
+from launch.substitutions import PathJoinSubstitution
 
 
 def generate_launch_description():
-    config_file = os.path.join(
-        get_package_share_directory('delta_robot'),
-        'config',
-        'delta_config.yaml'
-    )
-
     return LaunchDescription([
         Node(
             package='delta_robot',
             executable='kinematics',
             name='kinematics',
             output='screen',
-            parameters=[config_file],
+            parameters=[
+                PathJoinSubstitution([
+                    get_package_share_directory('delta_robot'),
+                    'config',
+                    'delta_config.yaml'
+                ])
+            ],
         ),
         Node(
             package='delta_robot',
@@ -43,4 +45,13 @@ def generate_launch_description():
             name='trajectory_generator',
             output='screen',
         ),
+        IncludeLaunchDescription(
+            XMLLaunchDescriptionSource(
+                PathJoinSubstitution([
+                    get_package_share_directory('delta_robot_sensors'),
+                    'launch',
+                    'sensors.launch.xml'
+                ])
+            )
+        )
     ])
diff --git a/delta_robot/launch/kinematics.launch.xml b/delta_robot/launch/kinematics.launch.xml
deleted file mode 100644
index e8cd2d2..0000000
--- a/delta_robot/launch/kinematics.launch.xml
+++ /dev/null
@@ -1,5 +0,0 @@
-<launch>
-  <node pkg="deltarobot_kinematics" exec="kinematics" name="delta_kinematics" >
-    <param from="$(find-pkg-share deltarobot_kinematics)/config/delta_config.yaml"/>
-  </node>
-</launch>
\ No newline at end of file
diff --git a/delta_robot/launch/motor_control.launch.xml b/delta_robot/launch/motor_control.launch.xml
deleted file mode 100644
index 9213bef..0000000
--- a/delta_robot/launch/motor_control.launch.xml
+++ /dev/null
@@ -1,3 +0,0 @@
-<launch>
-  <node pkg="deltarobot_motor_control" exec="delta_motor_control" name="delta_motor_control" output="screen"/>
-</launch>
\ No newline at end of file
diff --git a/delta_robot/launch/traj_gen.launch.xml b/delta_robot/launch/traj_gen.launch.xml
deleted file mode 100644
index c0f9868..0000000
--- a/delta_robot/launch/traj_gen.launch.xml
+++ /dev/null
@@ -1,3 +0,0 @@
-<launch>
-  <node pkg="deltarobot_trajectory_generator" exec="delta_trajectory_generator" name="delta_trajectory_generator" />
-</launch>
\ No newline at end of file

From 67e7529c349d6f91392815477628efaa48c82a4b Mon Sep 17 00:00:00 2001
From: Sharwin24 <sharwin24@gmail.com>
Date: Sat, 5 Jul 2025 20:09:51 -0500
Subject: [PATCH 3/3] Using Different launch description source

---
 delta_robot/launch/delta_robot.launch.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/delta_robot/launch/delta_robot.launch.py b/delta_robot/launch/delta_robot.launch.py
index 8956454..559668c 100644
--- a/delta_robot/launch/delta_robot.launch.py
+++ b/delta_robot/launch/delta_robot.launch.py
@@ -1,7 +1,7 @@
 from launch import LaunchDescription
 from launch_ros.actions import Node
 from launch.actions import IncludeLaunchDescription
-from launch.launch_description_sources import XMLLaunchDescriptionSource
+from launch.launch_description_sources import AnyLaunchDescriptionSource
 from ament_index_python.packages import get_package_share_directory
 from launch.substitutions import PathJoinSubstitution
 
@@ -46,7 +46,7 @@ def generate_launch_description():
             output='screen',
         ),
         IncludeLaunchDescription(
-            XMLLaunchDescriptionSource(
+            AnyLaunchDescriptionSource(
                 PathJoinSubstitution([
                     get_package_share_directory('delta_robot_sensors'),
                     'launch',