From fbd3317844442d62b5e11d43ab79862c5b80ea02 Mon Sep 17 00:00:00 2001
From: ipa-lth <lorenz.halt@ipa.fraunhofer.de>
Date: Fri, 16 Nov 2018 11:37:11 +0100
Subject: [PATCH] ADD launch file for tcp based connection

---
 launch/driver.launch     |  1 +
 launch/driver_tcp.launch | 23 +++++++++++++++++++++++
 launch/socat_script.sh   |  5 +++++
 package.xml              |  1 +
 4 files changed, 30 insertions(+)
 create mode 100644 launch/driver_tcp.launch
 create mode 100755 launch/socat_script.sh

diff --git a/launch/driver.launch b/launch/driver.launch
index 9e4ebee..42ba426 100644
--- a/launch/driver.launch
+++ b/launch/driver.launch
@@ -1,3 +1,4 @@
+<?xml version='1.0'?>
 <launch>
   <arg name="device" default="/dev/ttyUSB0" />
   <arg name="rate" default="1000" />
diff --git a/launch/driver_tcp.launch b/launch/driver_tcp.launch
new file mode 100644
index 0000000..f9ce0c6
--- /dev/null
+++ b/launch/driver_tcp.launch
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<launch>
+    <arg name="ip" default="192.168.0.4" />
+    <arg name="port" default="5001" />
+    <arg name="rate" default="250" />
+    <arg name="sensor_frame_id" default="/sensor" />
+    <arg name="topic" default="/force" />
+    <arg name="frequency_div" default="2" />
+
+    <node
+        name="VirtualPortRedirection" pkg="dynpick_driver" type="socat_script.sh"
+        args="$(arg ip) $(arg port) /tmp/YPort"
+        output="screen"/>
+
+    <include file="$(find dynpick_driver)/launch/driver.launch">
+        <arg name="device" value="/tmp/YPort" />
+        <arg name="topic" value="$(arg topic)" />
+        <arg name="rate" value="$(arg rate)" />
+        <arg name="sensor_frame_id" value="$(arg sensor_frame_id)" />
+        <arg name="frequency_div" value="$(arg frequency_div)" />
+
+    </include>
+</launch>
diff --git a/launch/socat_script.sh b/launch/socat_script.sh
new file mode 100755
index 0000000..009e753
--- /dev/null
+++ b/launch/socat_script.sh
@@ -0,0 +1,5 @@
+#!/bin/bash
+echo ==========================================================
+echo -e "| Mapping \e[31m$1\e[0m:\e[31m$2\e[0m to \e[31m$3\e[0m"
+echo ==========================================================
+socat -d -d PTY,link=$3  TCP:$1:$2
diff --git a/package.xml b/package.xml
index 1ba1e7c..9fce97a 100644
--- a/package.xml
+++ b/package.xml
@@ -35,6 +35,7 @@
   <run_depend>std_srvs</run_depend>
   <run_depend>tf</run_depend>
   <run_depend>xacro</run_depend>
+  <run_depend>socat</run_depend>
 
   <test_depend>rostest</test_depend>