Plansys 2 turtle examples works.

launch/turtle.launch.py

@@ -37,14 +37,27 @@ def generate_launch_description():
                 get_package_share_directory('lrs_exec'),
                 'exec.launch.py')),
         launch_arguments={"ns": LaunchConfiguration('ns'),
-                          "location": LaunchConfiguration('location')}.items()
+                          "location": LaunchConfiguration('location'),
+                          "ros2_bridge": "true",
+                          }.items()
     )
-
+ 
+    streamer_include = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory('lrs_exec'),
+                'tst_streamer.launch.py')),
+        launch_arguments={"ns": LaunchConfiguration('ns'),
+                          "location": LaunchConfiguration('location'),
+                          "name": "turtletst"}.items()
+    )
+ 
     return LaunchDescription([
         sim_arg,
         ns_arg,
         location_arg,
         exec_include,
+        streamer_include,
         sim_include,
         Node(
             package='lrs_turtle',