[launch, config] add launch file for launch joy with others nodes.

config/isae_parameters.yaml

+teleop_twist_joy_node:
+  ros__parameters:
+    axis_linear:
+      x: 1
+    scale_linear:
+      x: 0.7
+    scale_linear_turbo:
+      x: 1.5
+
+    axis_angular:
+      yaw: 0
+    scale_angular:
+      yaw: 0.4
+
+    enable_button: 2  # L2 shoulder button
+    enable_turbo_button: 10  # L1 shoulder button
\ No newline at end of file

launch/prex_pc.py

+import os
+
+from ament_index_python import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import IncludeLaunchDescription
+from launch.actions import GroupAction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch.substitutions import TextSubstitution
+from launch_ros.actions import Node
+from launch_ros.actions import PushRosNamespace
+from launch_ros.substitutions import FindPackageShare
+
+
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+from launch.conditions import IfCondition, UnlessCondition
+
+def generate_launch_description():
+
+    # args that can be set from the command line or a default will be used
+    #color_file_launch_arg = DeclareLaunchArgument(
+    #    "color_file", default_value=TextSubstitution(text="0")
+    #)
+    declared_arguments = []
+    
+    joyps4_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            PathJoinSubstitution([
+                FindPackageShare('teleop_twist_joy'),
+                'launch',
+                'teleop-launch.py'
+            ])
+        ]),
+        launch_arguments={
+                'joy_vel' : '/irobot01/cmd_vel',
+                'config_filepath' : os.path.join( get_package_share_directory('isae_simulations_package'), 'config', 'isae_parameters.yaml'),
+            }.items()
+    )
+    
+    image_2_scan = Node(
+        package='depthimage_to_laserscan',
+        executable='depthimage_to_laserscan_node',
+        name='image_line_scan',
+        remappings=[
+            ('/depth','/ms_kinect_depth/depth/image_raw'),
+            ('/depth_camera_info', '/ms_kinect_depth/depth/camera_info'),
+            ],
+        parameters=[{'scan_height:': 1}],
+        output='screen',
+    )
+        
+    return LaunchDescription(declared_arguments+[GroupAction(
+     actions=[
+            joyps4_launch,
+            image_2_scan,
+    ])])