Provide launch files for different robot configurations (2WD, 4WD, Tr…

…acked).

README.md

@@ -20,7 +20,18 @@ colcon build --packages-select t07_robot
 ```bash
 cd $COLCON_WS
 . install/setup.bash
-ros2 launch t07_robot robot.py
+```
+* [T07W(heels)](https://github.com/107-systems/T07) (2WD tricycle configuration)
+```bash
+ros2 launch t07_robot t07.py
+```
+* [T07W(heels)](https://github.com/107-systems/T07) (4WD configuration)
+```bash
+ros2 launch t07_robot t07_4wd.py
+```
+* [T07T(racks)](https://github.com/107-systems/T07_threaded) (Tracked configuration)
+```bash
+ros2 launch t07_robot t07_tracked.py
 ```
 
 #### Interface Documentation

launch/t07_4wd.py

@@ -0,0 +1,33 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+  return LaunchDescription([
+    Node(
+      package='t07_robot',
+      executable='t07_robot_node',
+      name='t07_robot',
+      namespace='t07',
+      output='screen',
+      emulate_tty=True,
+      parameters=[
+        {'can_iface' : 'can0'},
+        {'can_node_id' : 100},
+        {'crc07_can_node_id' : 10},
+        {'motor_left_topic': '/motor/left/target'},
+        {'motor_left_topic_deadline_ms': 200},
+        {'motor_left_topic_liveliness_lease_duration': 1000},
+        {'motor_left_rpm_port_id': 1000},
+        {'motor_right_topic': '/motor/right/target'},
+        {'motor_right_topic_deadline_ms': 200},
+        {'motor_right_topic_liveliness_lease_duration': 1000},
+        {'motor_right_rpm_port_id': 1001},
+        {'wheel_left_diameter_mm': 154.0},
+        {'wheel_right_diameter_mm': 154.0},
+        {'estop_topic': '/estop/actual'},
+        {'estop_topic_deadline_ms': 100},
+        {'estop_topic_liveliness_lease_duration': 1000},
+        {'estop_port_id': 100},
+      ]
+    )
+  ])

launch/t07_tracked.py

@@ -0,0 +1,33 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+  return LaunchDescription([
+    Node(
+      package='t07_robot',
+      executable='t07_robot_node',
+      name='t07_robot',
+      namespace='t07',
+      output='screen',
+      emulate_tty=True,
+      parameters=[
+        {'can_iface' : 'can0'},
+        {'can_node_id' : 100},
+        {'crc07_can_node_id' : 10},
+        {'motor_left_topic': '/motor/left/target'},
+        {'motor_left_topic_deadline_ms': 200},
+        {'motor_left_topic_liveliness_lease_duration': 1000},
+        {'motor_left_rpm_port_id': 1000},
+        {'motor_right_topic': '/motor/right/target'},
+        {'motor_right_topic_deadline_ms': 200},
+        {'motor_right_topic_liveliness_lease_duration': 1000},
+        {'motor_right_rpm_port_id': 1001},
+        {'wheel_left_diameter_mm': 70.0},
+        {'wheel_right_diameter_mm': 70.0},
+        {'estop_topic': '/estop/actual'},
+        {'estop_topic_deadline_ms': 100},
+        {'estop_topic_liveliness_lease_duration': 1000},
+        {'estop_port_id': 100},
+      ]
+    )
+  ])