Create launch file for axidraw

src/axidraw_controller/CMakeLists.txt

@@ -52,5 +52,6 @@ endif()
 
 # Install directories
 #install(DIRECTORY launch rviz urdf worlds DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 
 ament_package()

src/axidraw_controller/launch/axidraw_controller.launch.py

@@ -0,0 +1,47 @@
+import os
+from launch import LaunchDescription
+from launch.actions import OpaqueFunction, IncludeLaunchDescription, DeclareLaunchArgument
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
+
+from ament_index_python import get_package_share_directory
+from launch.launch_description_sources import load_python_launch_file_as_module
+from launch import LaunchDescription
+from launch.actions import RegisterEventHandler, EmitEvent
+from launch.event_handlers import OnProcessExit
+from launch.events import Shutdown
+
+
+def launch_setup(context, *args, **kwargs):
+    serial_port = LaunchConfiguration('serial_port', default='/dev/ttyACM0')
+    log_level = LaunchConfiguration("log_level", default='warn')
+
+    nodes = [
+        Node(
+            package="axidraw_controller",
+            executable="axidraw_controller",
+            output="log",
+            arguments=["--ros-args", "--log-level", log_level],
+            parameters=[
+            ],
+        ),
+        Node(
+            package="axidraw_controller",
+            executable="axidraw_serial.py",
+            output="log",
+            arguments=["--ros-args", "--log-level", log_level],
+            parameters=[
+                {"serial_port": serial_port},
+            ],
+        ),
+    ]
+
+    return nodes
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        OpaqueFunction(function=launch_setup)
+    ])

src/axidraw_controller/src/py/axidraw_serial.py

@@ -48,8 +48,12 @@ class AxidrawSerial(Node):
         self.status["motion"] = "ready"
         return True
 
-    def __init__(self, port="/dev/ttyACM0"):
+    def __init__(self):
         super().__init__('axidraw_serial')
+
+        self.declare_parameter('serial_port', '/dev/ttyACM0')
+        port = self.get_parameter('serial_port').get_parameter_value().string_value
+
         self.status_srv = self.create_service(Status, 'axidraw_status', self.get_status)
 
         while not self.init_serial(port):