Complete parrot example.

launch/j7s_publisher_launch.py

@@ -2,9 +2,26 @@ import launch
 import launch_ros.actions
 
 def generate_launch_description():
-    return launch.LaunchDescription([
-        launch_ros.actions.Node(
+    publisher_node = launch_ros.actions.Node(
             package='j7s-simple',
             executable='j7s-publisher',
-            name='j7s_publisher')
-  ])
+            name='j7s_publisher',
+            parameters=[{
+                "message":"Hello"
+            }]
+        )
+    parrot_node = launch_ros.actions.Node(
+            package='j7s-simple',
+            executable='j7s-parrot',
+            name='j7s_parrot_1',
+            parameters=[{
+                "name":"Polly"
+            }],
+            remappings=[
+                ("~/parrot_in", "/j7s_publisher/main_out")
+            ]
+        )
+    return launch.LaunchDescription([
+        publisher_node,
+        parrot_node
+     ])