launch file

device/pi_led/launch/led_launch.py

@@ -0,0 +1,12 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description() -> LaunchDescription:
+    led = Node(
+        package="pi_led",
+        excutable="pi_led",
+        namespace="device",
+        parameters=[],
+    )
+    return LaunchDescription([led])

device/pi_led/pi_led/pi_led.py

@@ -10,9 +10,9 @@ def __init__(self):
         self._led_subscription = self.create_subscription(
             LedColor, "led_color", self.led_callback, 10
         )
-        param_r = self.declare_parameter("led_pin_r", "")
-        param_g = self.declare_parameter("led_pin_g", "")
-        param_b = self.declare_parameter("led_pin_b", "")
+        param_r = self.declare_parameter("led_pin_r", "GPIO 17")
+        param_g = self.declare_parameter("led_pin_g", "GPIO 27")
+        param_b = self.declare_parameter("led_pin_b", "GPIO 22")
 
         led_pin_r = (
             self.get_parameter_or(param_r.name, param_r)

device/pi_led/setup.py

@@ -1,3 +1,6 @@
+import os
+from glob import glob
+
 from setuptools import find_packages, setup
 
 package_name = "pi_led"
@@ -9,6 +12,10 @@
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
         ("share/" + package_name, ["package.xml"]),
+        (
+            os.path.join("share", package_name, "launch"),
+            glob(os.path.join("launch", "*")),
+        ),
     ],
     install_requires=["setuptools"],
     zip_safe=True,