use yaml file to config robot arm

harvest_arm_rm/launch/rm_arm.launch.py

@@ -0,0 +1,25 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+import os
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+
+
+def generate_launch_description():
+    package_share_dir = get_package_share_directory('harvest_arm_rm')
+
+    config_file = os.path.join(package_share_dir, 'config', 'config.yaml')
+
+    return LaunchDescription([
+        Node(
+            package="harvest_arm_rm",
+            executable="realman_run",
+            name="harvest_arm_rm",
+            output="screen",
+            parameters=[config_file],
+        )
+    ])