add launch file to teleop jackal robot

RosSystems/agriculture_demo_sprint2/src-gen/demo/launch/teleop.launch

@@ -0,0 +1,96 @@
+<launch>
+  <arg name="jackal_port" default="/dev/jackal" />
+
+  <include file="$(find jackal_description)/launch/description.launch" />
+
+  <node pkg="jackal_base" type="jackal_node" name="jackal_node">
+    <rosparam>
+      # TODO: Specify these in code rather than here.
+      require:
+        publishers:
+          - status
+          - feedback
+          - imu/data_raw
+          - navsat/nmea_sentence
+        subscribers:
+          - cmd_drive
+          - wifi_connected
+    </rosparam>
+    <param name="port" value="$(arg jackal_port)" />
+    <param name="wireless_interface" value="$(optenv JACKAL_WIRELESS_INTERFACE wlp2s0)" />
+  </node>
+
+  <!-- TODO: Eliminate this by compiling the necessary message definitions into jackal_base. -->
+  <node pkg="rosserial_python" type="message_info_service.py" name="rosserial_message_info" />
+
+  <!-- Translate Sentence messages from the MCU to NavSatFix messages -->
+  <node pkg="nmea_navsat_driver" type="nmea_topic_driver" name="nmea_topic_driver" ns="navsat" />
+
+  <!-- Filter raw gyro data into a usable IMU message -->
+  <node pkg="imu_filter_madgwick" type="imu_filter_node" name="imu_filter">
+    <rosparam file="$(eval optenv('JACKAL_MAG_CONFIG', find('jackal_base')+'/config/mag_config_default.yaml'))" />
+    <rosparam>
+      gain: 0.1
+      zeta: 0.001
+      publish_tf: false
+    </rosparam>
+  </node>
+
+  <!-- Differential controller and basic localization -->
+  <!-- from jackal_control/launch/control.launch -->
+  <arg name="enable_ekf" default="$(optenv ENABLE_EKF true)"/>
+
+  <rosparam command="load" file="$(find jackal_control)/config/control.yaml" />
+
+  <node name="controller_spawner" pkg="controller_manager" type="spawner"
+        args="jackal_joint_publisher jackal_velocity_controller" />
+
+  <group if="$(arg enable_ekf)" >
+    <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization">
+      <rosparam command="load" file="$(find jackal_control)/config/robot_localization.yaml" />
+    </node>
+
+    <group if="$(optenv JACKAL_GX5_IMU 0)">
+      <!-- Optionally load the configuration for the secondary GX5-family IMU -->
+      <rosparam command="load" file="$(find jackal_control)/config/robot_localization_gx5.yaml" />
+    </group>
+  </group>
+
+  <node pkg="twist_mux" type="twist_mux" name="twist_mux">
+    <rosparam command="load" file="$(find jackal_control)/config/twist_mux.yaml" />
+    <remap from="cmd_vel_out" to="jackal_velocity_controller/cmd_vel"/>
+  </node>
+
+  <group if="$(optenv JACKAL_CONTROL_EXTRAS 0)" >
+    <rosparam command="load" file="$(env JACKAL_CONTROL_EXTRAS_PATH)" />
+  </group>
+
+  <!-- Teleoperation via joystick and rviz interactive markers -->
+  <!-- from jackal_control/launch/teleop.launch" /> -->
+  <arg name="joy_dev" default="$(optenv JACKAL_JOY_DEVICE /dev/input/js1)" />
+  <arg name="joystick" default="true" />
+
+  <group ns="bluetooth_teleop" if="$(arg joystick)">
+
+    <group unless="$(optenv JACKAL_PS3 0)" >
+      <rosparam command="load" file="$(find jackal_control)/config/teleop_ps4.yaml" />
+      <param name="joy_node/dev" value="$(arg joy_dev)" />
+    </group>
+
+    <group if="$(optenv JACKAL_PS3 0)" >
+      <rosparam command="load" file="$(find jackal_control)/config/teleop_ps3.yaml" />
+      <param name="joy_node/dev" value="$(arg joy_dev)" />
+    </group>
+
+    <node pkg="joy" type="joy_node" name="joy_node" />
+
+    <node pkg="teleop_twist_joy" type="teleop_node" name="teleop_twist_joy"/>
+  </group>
+
+  <node pkg="interactive_marker_twist_server" type="marker_server" name="twist_marker_server"/>
+
+  <!-- Diagnostic Aggregator for robot monitor usage -->
+  <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator">
+    <rosparam command="load" file="$(find jackal_base)/config/diagnostic_analyzers.yaml" />
+  </node>
+</launch>