Add deafult launch file

human_detector/launch/human_detector.launch.py

@@ -0,0 +1,36 @@
+from launch_ros.actions import LifecycleNode
+from launch_ros.events.lifecycle import ChangeState
+from launch.events.matchers import matches_action
+from launch.actions import DeclareLaunchArgument, EmitEvent
+from launch.substitutions import LaunchConfiguration
+from launch import LaunchDescription
+from lifecycle_msgs.msg import Transition
+
+
+def generate_launch_description():
+    use_sim_arg = DeclareLaunchArgument("use_sim", default_value="False", description="Use sim time.")
+    human_detector = LifecycleNode(
+        package="human_detector",
+        executable="human_detector",
+        name="human_detector",
+        output="screen",
+        namespace="",
+        parameters=[
+            {"use_sim_time": LaunchConfiguration("use_sim")},
+        ],
+    )
+
+    move_human_detector_to_configure_state_event = EmitEvent(
+        event=ChangeState(
+            lifecycle_node_matcher=matches_action(human_detector),
+            transition_id=Transition.TRANSITION_CONFIGURE,
+        )
+    )
+
+    return LaunchDescription(
+        [
+            use_sim_arg,
+            human_detector,
+            move_human_detector_to_configure_state_event,
+        ]
+    )

human_detector/setup.py

@@ -1,5 +1,7 @@
 from generate_parameter_library_py.setup_helper import generate_parameter_module
 from setuptools import find_packages, setup
+from glob import glob
+import os
 
 package_name = "human_detector"
 
@@ -11,6 +13,7 @@
     packages=find_packages(exclude=["test"]),
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        (os.path.join("share", package_name, "launch"), glob("launch/*.py")),
         ("share/" + package_name, ["package.xml"]),
     ],
     install_requires=["setuptools"],