From 46bca803e00e2c6c12b707bb66ef1715662c571e Mon Sep 17 00:00:00 2001
From: Tommy Persson <tommy.persson@liu.se>
Date: Mon, 13 Feb 2023 22:11:24 +0100
Subject: [PATCH] Plansys 2 turtle examples works.

---
 launch/turtle.launch.py | 17 +++++++++++++++--
 1 file changed, 15 insertions(+), 2 deletions(-)

diff --git a/launch/turtle.launch.py b/launch/turtle.launch.py
index fc22481..1d5b582 100644
--- a/launch/turtle.launch.py
+++ b/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',
-- 
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