Create delta robot launch file

delta_robot/launch/delta_robot.launch.py

@@ -1 +1,57 @@
-# Launch file for Delta Robot
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import AnyLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
+from launch.substitutions import PathJoinSubstitution
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='delta_robot',
+            executable='kinematics',
+            name='kinematics',
+            output='screen',
+            parameters=[
+                PathJoinSubstitution([
+                    get_package_share_directory('delta_robot'),
+                    'config',
+                    'delta_config.yaml'
+                ])
+            ],
+        ),
+        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',
+        ),
+        IncludeLaunchDescription(
+            AnyLaunchDescriptionSource(
+                PathJoinSubstitution([
+                    get_package_share_directory('delta_robot_sensors'),
+                    'launch',
+                    'sensors.launch.xml'
+                ])
+            )
+        )
+    ])