From 7b7efbe37a588da269b8ca870ed949a518feade4 Mon Sep 17 00:00:00 2001
From: Corwin Perren <caperren@gmail.com>
Date: Sat, 21 Apr 2018 16:03:30 -0700
Subject: [PATCH] Added senders/receivers for Matthews new GPS statuses.

---
 .../ground_station/topic_transport_receivers.launch       | 8 ++++++++
 .../launch/rover/topic_transport_senders.launch           | 8 ++++++++
 2 files changed, 16 insertions(+)

diff --git a/software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch b/software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch
index d8a95c8..96c18d9 100644
--- a/software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch
+++ b/software/ros_packages/rover_main/launch/ground_station/topic_transport_receivers.launch
@@ -47,6 +47,9 @@
         <node name="end_effector_256x144" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
             <param name="port" value="17012" />
         </node>
+    </group>
+
+    <group>
 
         <node name="bogie_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
             <param name="port" value="17013" />
@@ -71,5 +74,10 @@
         <node name="misc_status_tcp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
             <param name="port" value="17018" />
         </node>
+
+        <node name="gps_status_udp" pkg="nimbro_topic_transport" type="tcp_receiver" output="screen">
+            <param name="port" value="17019" />
+        </node>
+
     </group>
 </launch>
diff --git a/software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch b/software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch
index 046815a..35c5d3c 100644
--- a/software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch
+++ b/software/ros_packages/rover_main/launch/rover/topic_transport_senders.launch
@@ -145,5 +145,13 @@
                 [{name: "/rover_status/misc_status", compress: false, rate: 1.0}]
             </rosparam>
         </node>
+
+        <node name="gps_status_udp_sender" pkg="nimbro_topic_transport" type="udp_sender" output="screen">
+            <param name="destination_addr" value="$(arg target)" />
+            <param name="destination_port" value="17019" />
+            <rosparam param="topics">
+                [{name: "/rover_status/gps_status", compress: true, rate: 5.0}]
+            </rosparam>
+        </node>
     </group>
 </launch>