Updated launcher

coresense_instrumentation_driver/launch/coresense_instrumentation_driver.launch.py

@@ -19,25 +19,27 @@
 
 def generate_launch_description():
 
-    names = ['scan', 'chatter', 'image']
-    topics = ['/scan', '/chatter', '/image']
-    types = ['sensor_msgs::msg::LaserScan', 'std_msgs::msg::String', 'sensor_msgs::msg::Image']
+    names = ['scan_raw', 'nav_vel']
+    topics = ['/scan_raw', '/nav_vel']
+    msgs = ['sensor_msgs::msg::LaserScan', 'geometry_msgs::msg::Twist']
+    node_types = ['Consumer', 'Consumer']
+    ns = ''
 
     composable_nodes = []
-    for topic, topic_type, name in zip(topics, types, names):
+    for topic, msg, name, type in zip(topics, msgs, names, node_types):
         composable_node = ComposableNode(
             package='coresense_instrumentation_driver',
-            plugin='coresense_instrumentation_driver::InstrumentationLifecycleNode<'
-                    + topic_type + '>',
+            plugin='coresense_instrumentation_driver::Instrumentation' + type + '<'
+                    + msg + '>',
             name=name + '_node',
-            namespace='coresense',
-            parameters=[{'topic': topic, 'topic_type': topic_type}],
+            namespace=ns,
+            parameters=[{'topic': topic, 'topic_type': msg}],
         )
         composable_nodes.append(composable_node)
 
     container = ComposableNodeContainer(
         name='coresense_container',
-        namespace='coresense',
+        namespace=ns,
         package='rclcpp_components',
         executable='component_container',
         composable_node_descriptions=composable_nodes,