WIP: added sherpa

src/sherpa/launch/visualizer.launch.py

@@ -0,0 +1,23 @@
+import os.path
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+from launch.conditions import IfCondition
+
+def generate_launch_description():
+
+    ld = LaunchDescription()   
+
+    rviz2 = Node(
+        package='rviz2',
+        executable='rviz2',
+        arguments=['-d', f"{os.path.join(get_package_share_directory('sherpa'), 'config', 'sherpa.rviz')}"]
+    )
+
+    ld.add_action(rviz2)
+
+    return ld