From 8cc7048b9edee12158e917d2d088de20c951fcc1 Mon Sep 17 00:00:00 2001
From: Corwin Perren <caperren@gmail.com>
Date: Mon, 26 Feb 2018 22:54:00 -0800
Subject: [PATCH] Added receiver/sender for drive from ground station.

---
 .../launch/udp_drive_command_receiver.launch    |  5 +++++
 .../launch/udp_drive_command_sender.launch      | 17 +++++++++++++++++
 2 files changed, 22 insertions(+)
 create mode 100644 software/rover/nimbro_topic_transport/launch/udp_drive_command_receiver.launch
 create mode 100644 software/rover/nimbro_topic_transport/launch/udp_drive_command_sender.launch

diff --git a/software/rover/nimbro_topic_transport/launch/udp_drive_command_receiver.launch b/software/rover/nimbro_topic_transport/launch/udp_drive_command_receiver.launch
new file mode 100644
index 0000000..6d245e3
--- /dev/null
+++ b/software/rover/nimbro_topic_transport/launch/udp_drive_command_receiver.launch
@@ -0,0 +1,5 @@
+<launch>
+    <node name="udp_receiver_drive" pkg="nimbro_topic_transport" type="udp_receiver" output="screen">
+        <param name="port" value="17020" />
+    </node>
+</launch>
diff --git a/software/rover/nimbro_topic_transport/launch/udp_drive_command_sender.launch b/software/rover/nimbro_topic_transport/launch/udp_drive_command_sender.launch
new file mode 100644
index 0000000..c13ca62
--- /dev/null
+++ b/software/rover/nimbro_topic_transport/launch/udp_drive_command_sender.launch
@@ -0,0 +1,17 @@
+<launch>
+	<arg name="target" default="192.168.1.10" />
+
+   	<!-- The UDP sender node -->
+	<node name="udp_sender4" 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="17020" />
+		<!-- Load the list of topics from a YAML file -->
+		<rosparam param="topics">
+            [{name: "/command_control/groundstation_drive", compress: true, rate: 15.0}]
+        </rosparam>
+
+	</node>
+
+</launch>