Update demo

launch/demo_pub_launch.py → launch/demo_pub_bridge_launch.py

@@ -20,7 +20,7 @@ def generate_launch_description() -> LaunchDescription:
         get_package_share_directory('mqtt_ros_bridge'),
         'config',
         'pub.yaml'
-        )
+    )
 
     run_bridge_node = Node(
         package='mqtt_ros_bridge',
@@ -30,15 +30,7 @@ def generate_launch_description() -> LaunchDescription:
         arguments=[config]
     )
 
-    turtle_sim = Node(
-        package='turtlesim',
-        executable='turtlesim_node',
-        emulate_tty=True,
-        output='screen'
-    )
-
     return LaunchDescription([
         SetEnvironmentVariable("ROS_DOMAIN_ID", "2"),
-        run_bridge_node,
-        turtle_sim
+        run_bridge_node
     ])

launch/demo_turtle_sim_launch.py

@@ -0,0 +1,29 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch.actions import SetEnvironmentVariable
+from launch.launch_description import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description() -> LaunchDescription:
+    """
+    Generate LaunchDescription for MQTT ROS bridge.
+
+    Returns
+    -------
+    LaunchDescription
+        Launches bridge_node.
+
+    """
+    turtle_sim = Node(
+        package='turtlesim',
+        executable='turtlesim_node',
+        emulate_tty=True,
+        output='screen'
+    )
+
+    return LaunchDescription([
+        SetEnvironmentVariable("ROS_DOMAIN_ID", "2"),
+        turtle_sim
+    ])