AMRFM-1347 use ROS2 nodes for new barcode scanners (ros-navigation#240)

* use Nodes for new barcode scanners

* simplify launch file

Author: jplapp

amr_bringup/launch/amr_hardware.launch.py

@@ -171,39 +171,11 @@ def generate_launch_description():
                     "bash -c 'AzureKinectFirmwareTool -Reset && $0 $@'"
                 ],  # TODO: Implement correctly
             ),
-            ExecuteProcess(
-                cmd=[
-                    "python3",
-                    "-m",
-                    "lv.tools.barcode_scanner_amr",
-                    "--cam_id",
-                    "1",
-                    "from_source",
-                    "basler",
-                    "--basler_camera_development_id",
-                    "1",
-                ],
-                cwd=deep_cv_dir,
-                output="screen",
-                name="barcode_scanner_amr_1",
+            Node(
+                package="deep_cv",
+                executable="barcode_scanner_manager",
                 respawn=True,
-            ),
-            ExecuteProcess(
-                cmd=[
-                    "python3",
-                    "-m",
-                    "lv.tools.barcode_scanner_amr",
-                    "--cam_id",
-                    "2",
-                    "from_source",
-                    "basler",
-                    "--basler_camera_development_id",
-                    "2",
-                ],
-                cwd=deep_cv_dir,
                 output="screen",
-                name="barcode_scanner_amr_2",
-                respawn=True,
             ),
         ]
     )

amr_bringup/launch/amr_simulation_gazebo.launch.py

@@ -156,13 +156,11 @@ def generate_launch_description():
                 ),
                 launch_arguments={"amr_id": LaunchConfiguration("amr_id"),}.items(),
             ),
-            IncludeLaunchDescription(
-                PythonLaunchDescriptionSource(
-                    os.path.join(
-                        amr_bringup_dir, "launch/amr_simulation_utils.launch.py"
-                    ),
-                ),
-                launch_arguments={"amr_id": LaunchConfiguration("amr_id"),}.items(),
+            Node(
+                package="deep_cv",
+                executable="simulated_barcode_scanner_manager",
+                respawn=True,
+                output="screen",
             ),
             Node(
                 package="deep_cv",

amr_bringup/launch/amr_simulation_simple.launch.py

@@ -109,13 +109,11 @@ def generate_launch_description():
                     "amr_id": LaunchConfiguration("amr_id"),
                 }.items(),
             ),
-            IncludeLaunchDescription(
-                PythonLaunchDescriptionSource(
-                    os.path.join(amr_bringup_dir, "launch/amr_simulation_utils.launch.py"),
-                ),
-                launch_arguments={
-                    "amr_id": LaunchConfiguration("amr_id"),
-                }.items(),
+            Node(
+                package="deep_cv",
+                executable="simulated_barcode_scanner_manager",
+                respawn=True,
+                output="screen",
             ),
         ],