From 4bc01f75d702e9f324a740f002543217201ebd6c Mon Sep 17 00:00:00 2001
From: Corwin Perren <caperren@gmail.com>
Date: Mon, 26 Feb 2018 18:43:43 -0800
Subject: [PATCH] Added camera test files for topic transport

---
 .../launch/camera_topics.yaml                 |  4 +++
 .../launch/udp_camera_receiver.launch         | 14 ++++++++++
 .../launch/udp_camera_sender.launch           | 26 +++++++++++++++++++
 .../rover/rover_camera/launch/example.launch  |  7 +----
 4 files changed, 45 insertions(+), 6 deletions(-)
 create mode 100644 software/rover/nimbro_topic_transport/launch/camera_topics.yaml
 create mode 100644 software/rover/nimbro_topic_transport/launch/udp_camera_receiver.launch
 create mode 100644 software/rover/nimbro_topic_transport/launch/udp_camera_sender.launch

diff --git a/software/rover/nimbro_topic_transport/launch/camera_topics.yaml b/software/rover/nimbro_topic_transport/launch/camera_topics.yaml
new file mode 100644
index 0000000..67607f4
--- /dev/null
+++ b/software/rover/nimbro_topic_transport/launch/camera_topics.yaml
@@ -0,0 +1,4 @@
+topics:
+ - name: "/usb_cam/image_raw"
+   compress: true # enable bz2 compression
+   rate: 30.0 # rate limit at 1Hz
diff --git a/software/rover/nimbro_topic_transport/launch/udp_camera_receiver.launch b/software/rover/nimbro_topic_transport/launch/udp_camera_receiver.launch
new file mode 100644
index 0000000..ab72ac1
--- /dev/null
+++ b/software/rover/nimbro_topic_transport/launch/udp_camera_receiver.launch
@@ -0,0 +1,14 @@
+<launch>
+	<!--
+	  This launch file runs a udp_receiver node, which receives topics
+	  over the network on port 17001 and publishes them on the local roscore.
+
+	  See udp_sender.launch for the sender part.
+	-->
+
+	<node name="udp_receiver" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+		<!-- The port to receive packets on -->
+		<param name="port" value="17002" />
+
+	</node>
+</launch>
diff --git a/software/rover/nimbro_topic_transport/launch/udp_camera_sender.launch b/software/rover/nimbro_topic_transport/launch/udp_camera_sender.launch
new file mode 100644
index 0000000..2aee5e3
--- /dev/null
+++ b/software/rover/nimbro_topic_transport/launch/udp_camera_sender.launch
@@ -0,0 +1,26 @@
+<launch>
+	<!--
+	  This launch file runs a udp_sender node, which sends topics from the local
+	  roscore over the network on port 17001.
+
+	  By default, this launch file sends topics to your local machine for
+	  testing purposes. If you want to send to another machine, use
+	    roslaunch nimbro_topic_transport udp_sender.launch target:=other_host
+	  where other_host can be a host name or IP address.
+
+	  See udp_receiver.launch for the receiving part.
+	-->
+
+	<arg name="target" default="192.168.1.10" />
+
+	<!-- The UDP sender node -->
+	<node name="udp_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
+
+		<!-- The destination host name or IP address -->
+		<param name="destination_addr" value="$(arg target)" />
+		<param name="destination_port" value="17002" />
+
+		<!-- Load the list of topics from a YAML file -->
+		<rosparam command="load" file="$(find nimbro_topic_transport)/launch/camera_topics.yaml" />
+	</node>
+</launch>
diff --git a/software/rover/rover_camera/launch/example.launch b/software/rover/rover_camera/launch/example.launch
index 8ca0c9b..a9fe144 100644
--- a/software/rover/rover_camera/launch/example.launch
+++ b/software/rover/rover_camera/launch/example.launch
@@ -9,15 +9,10 @@
     </node>
 
 
-    <node name="gimbal" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 3" output="screen" >
+    <node name="camera_chassis" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 3" output="screen" >
       <param name="device_path" value="/dev/rover/camera_chassis" />
     </node>
 
 
   </group>
-  <!--
-  <node name="image_view" pkg="image_view" type="image_view" launch-prefix="taskset -c 4" output="screen">
-    <remap from="image" to="/cameras/camera_name/image_720p"/>
-  </node>
-  -->
 </launch>