feat: add bringup support for container launcher

setup/start_rover.sh

@@ -1,6 +1,9 @@
 #!/bin/bash
-source ~/gstreamer/setupGstreamer.sh
-source /opt/ros/humble/setup.bash
-source /opt/ros/humble/cprt_setup.bash
 sudo enablecan.sh
-ros2 launch rosbridge_server rosbridge_websocket_launch.xml
+
+echo "Starting the container launcher..."
+
+docker run --rm \
+    -v /var/run/docker.sock:/var/run/docker.sock \
+    -p 8080:8080 \
+    cprtsoftware/container-launcher:latest

src/Bringup/launch/arm.launch.py

@@ -20,6 +20,5 @@ def generate_launch_description():
     SetEnvironmentVariable("ROS_LOG_LEVEL", "WARN")
     launch_files = [
         ("arm_srdf", "servo.launch.py"),
-        ("arm_srdf", "talon.launch.py"),
     ]
     return LaunchDescription(get_included_launch_descriptions(launch_files))

src/Bringup/launch/core.launch.py

@@ -1,6 +1,7 @@
 from launch import LaunchDescription
 from launch_ros.substitutions import FindPackageShare
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_xml.launch_description_sources import XMLLaunchDescriptionSource
 from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable
 import os
 
@@ -10,16 +11,22 @@ def get_included_launch_descriptions(launch_files):
     for pkg, file in launch_files:
         pkg_share = FindPackageShare(pkg).find(pkg)
         file_path = os.path.join(pkg_share, "launch", file)
-        included_launches.append(
-            IncludeLaunchDescription(PythonLaunchDescriptionSource(file_path))
-        )
+
+        if file.endswith(".py"):
+            source = PythonLaunchDescriptionSource(file_path)
+        elif file.endswith(".xml"):
+            source = XMLLaunchDescriptionSource(file_path)
+        else:
+            raise ValueError(f"Unsupported launch file format: {file}")
+
+        included_launches.append(IncludeLaunchDescription(source))
     return included_launches
 
 
 def generate_launch_description():
-    SetEnvironmentVariable("ROS_LOG_LEVEL", "WARN")
     launch_files = [
         ("joystick_control", "controller.launch.py"),
         ("servo_pkg", "usb_servo_launch.launch.py"),
+        ("rosbridge_server", "rosbridge_websocket_launch.xml"),
     ]
     return LaunchDescription(get_included_launch_descriptions(launch_files))

src/Bringup/package.xml

@@ -6,6 +6,7 @@
   <description>TODO: Package description</description>
   <maintainer email="connor.needham2015@gmail.com">connor</maintainer>
   <license>TODO: License declaration</license>
+  <depend>rosbridge_server</depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>