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ADD launch file for tcp based connection #43

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ADD launch file for tcp based connection #43

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1 change: 1 addition & 0 deletions launch/driver.launch
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Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
<?xml version='1.0'?>
<launch>
<arg name="device" default="/dev/ttyUSB0" />
<arg name="rate" default="1000" />
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23 changes: 23 additions & 0 deletions launch/driver_tcp.launch
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Original file line number Diff line number Diff line change
@@ -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>
5 changes: 5 additions & 0 deletions launch/socat_script.sh
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@@ -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
1 change: 1 addition & 0 deletions package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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>

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