launch file in python

asv_setup/CMakeLists.txt

@@ -7,8 +7,6 @@ endif()
 
 find_package(ament_cmake_python REQUIRED)
 find_package(rclpy REQUIRED)
-find_package(sensor_msgs REQUIRED)
-find_package(geometry_msgs REQUIRED)
 
 ament_python_install_package(scripts)
 
@@ -23,4 +21,5 @@ install(PROGRAMS
   DESTINATION lib/${PROJECT_NAME}
 )
 
+
 ament_package()

asv_setup/launch/parameter_manager_to_erase.launch.py

@@ -0,0 +1,20 @@
+import os
+from launch import LaunchDescription 
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+
+    parameter_manager_node = Node(
+        package='asv_setup',
+        executable='parameter_manager_node.py',
+        name='parameter_manager_node',
+        output='screen',
+        parameters=[os.path.join(get_package_share_directory('asv_setup'), 'config','freya.yaml')]
+    )
+
+    return LaunchDescription([
+        parameter_manager_node
+    ])

asv_setup/package.xml

@@ -12,8 +12,7 @@
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
   <exec_depend>rclpy</exec_depend>
-  <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>sensor_msgs</exec_depend>
+
 
 
   <export>

asv_setup/scripts/parameter_manager_node.py

@@ -37,9 +37,10 @@ def StringInto2DArray(input_string):
 def main():
     rclpy.init()
     parameter_manager_node = ParameterManagerNode()
-    test = parameter_manager_node.configuration_matrix
-    print(test)
-    #rclpy.spin(joystick_interface)
+
+    #test = parameter_manager_node.configuration_matrix
+    #print(test)
+
     parameter_manager_node.destroy_node()
     rclpy.shutdown()