add INS launcher

Signed-off-by: Shunsuke Miura <[email protected]>

src/drs_launch/launch/component/ins.launch.xml

@@ -0,0 +1,16 @@
+<launch>
+  <arg name="launch_driver" default="true" />
+  <arg name="config" default="0.01" />
+
+  <group>
+    <push-ros-namespace namespace="ins"/>
+    <group>
+      <push-ros-namespace namespace="oxts"/>
+      <include file="$(find-pkg-share oxts)/launch/run.py">
+        <arg name="interface" value="$(var interface)" />
+        <arg name="wait_for_init" value="False" />
+        <arg name="interval_sec" value="$(var receiver_interval_sec)" />
+      </include>
+    </group>
+  </group>
+</launch>

src/drs_launch/launch/drs_ecu0.launch.xml

@@ -64,6 +64,11 @@
     <arg name="launch_driver" value="$(var live_sensor)"/>
   </include>
 
+  <!-- INS -->
+  <include file="$(find-pkg-share drs_launch)/launch/component/ins.launch.xml">
+    <arg name="launch_driver" value="$(var live_sensor)"/>
+  </include>
+
   <!-- topic monitor -->
   <node pkg="ros_topic_monitor" exec="ros_topic_monitor">
     <param name="topic_list" value="/opt/drs/record_topics_ecu0.conf"/>

src/drs_launch/package.xml

@@ -10,11 +10,14 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <exec_depend>can_interface</exec_depend>
-  <exec_depend>v4l2_camera</exec_depend>
-  <exec_depend>sensor_trigger</exec_depend>
-  <exec_depend>nebula_ros</exec_depend>
   <exec_depend>individual_params</exec_depend>
   <exec_depend>image_transport</exec_depend>
+  <exec_depend>nebula_ros</exec_depend>
+  <exec_depend>oxts</exec_depend>
+  <exec_depend>pacmod3</exec_depend>
+  <exec_depend>sensor_trigger</exec_depend>
+  <exec_depend>tamagawa_imu_driver</exec_depend>
+  <exec_depend>v4l2_camera</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>