From a8d74ca2f08ab33261719a2e92324e8c7e182edf Mon Sep 17 00:00:00 2001
From: Aldokan <aleksos@stud.ntnu.no>
Date: Fri, 12 Jan 2024 08:45:54 +0100
Subject: [PATCH] Feature/freya launch file (#120)

* Made a launch file that includes thruster_interface and thruster_allocator

* cleanup

---------

Co-authored-by: Aldokan <aleksos@ntnu.no>
---
 asv_setup/launch/freya.launch.py | 35 ++++++++++++++++++++++++++++++++
 1 file changed, 35 insertions(+)
 create mode 100644 asv_setup/launch/freya.launch.py

diff --git a/asv_setup/launch/freya.launch.py b/asv_setup/launch/freya.launch.py
new file mode 100644
index 00000000..a412647b
--- /dev/null
+++ b/asv_setup/launch/freya.launch.py
@@ -0,0 +1,35 @@
+import os
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.actions import SetEnvironmentVariable, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+    # Set environment variable
+    set_env_var = SetEnvironmentVariable(
+        name='ROSCONSOLE_FORMAT',
+        value='[${severity}] [${time}] [${node}]: ${message}'
+    )
+
+
+    # Thruster Allocator launch
+    thruster_allocator_launch = IncludeLaunchDescription(
+    PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('thruster_allocator'), 'launch/thruster_allocator.launch.py')
+        )
+    )
+
+    #Thruster Interface launch
+    thruster_interface_launch = IncludeLaunchDescription(
+    PythonLaunchDescriptionSource(
+            os.path.join(get_package_share_directory('thruster_interface'), 'launch/thruster_interface.launch.py')
+        )
+    )
+
+    # Return launch description
+    return LaunchDescription([
+        set_env_var,
+        thruster_allocator_launch,
+        thruster_interface_launch
+    ])