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launch/aruco_launch.py

@@ -0,0 +1,39 @@
+from os import wait
+from typing_extensions import ParamSpecKwargs
+from launch import LaunchDescription
+from launch.actions import execute_process
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        
+        Node(
+            package='aruco_detector',
+            executable='aruco_detector_node',
+            parameters=[
+                {'url_yaml_file' : "file:///home/ros2/dev2_ws/src/aruco_detector/hd_pro_webcam_c920.yaml"},
+            ]
+        ),
+        Node(
+            package='usb_cam',
+            executable='usb_cam_node_exe',
+            parameters=[
+                {'framerate' : 30.0},
+                {'camera_name' : 'hd_pro_webcam_c920'},
+                {'autofocus' : True},
+                {'camera_info_url' : "file:///home/ros2/dev2_ws/src/aruco_detector/hd_pro_webcam_c920.yaml"},
+
+                #uncomment for Full_HD
+                #{'image_width' : 1920},            
+                #{'image_height' : 1080},
+
+                #uncomment for HD
+                {'image_width' : 1280},            
+                {'image_height' : 720},
+            ]
+        ),
+        Node(
+            package='rqt_image_view',
+            executable='rqt_image_view',
+        ),
+    ])

launch/turtle_launch.py

@@ -0,0 +1,14 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='turtlesim',
+            executable='turtlesim_node',
+        ),
+        Node(
+            package='turtlesim',
+            executable='turtle_teleop_key',
+        ),
+    ])