ROS2 Launch Configuration and Parameters

[vangeliq]

Add ROS2 Launch configuration commands with parameters that incorporate the following:

• Ability to launch all 3 nodes at the same time
• Ability to launch just the camera and jetson nodes together
• Ability to alter parameters like image source used (static image publishing, Zed camera, Web Cam, video frames)
• Ability to alter the path of the model file being loaded
• Ability to alter the path of the image source folder being loaded (for .jpg and .mp4)
• Add default values for all the above parameters for fast Jetson debugging (Zed camera, all 3 nodes, repository folders, etc.)
• Make sure to document in detail what each parameter does
• Add logic for starting, stopping and reconfiguring nodes without system restart
• Example ROS2 Launch parameters arguments

More documentation and Examples:

• ROS2 Parameters
• RQT console
• Composable Nodes
• Launch File Formats
• Parameters Example
• ROS environment configuration
• ROS Domain ID