From c11f7654f98e8866642efdbe1cc4d6d5fa337169 Mon Sep 17 00:00:00 2001
From: Federica Di Lauro <federicadilauro1998@gmail.com>
Date: Mon, 2 Mar 2020 15:47:32 +0100
Subject: [PATCH] separate serial_bridge from other launch files

---
 utils/catkin_ws/launch/dario.launch         | 5 +----
 utils/catkin_ws/launch/joypad.launch        | 3 ---
 utils/catkin_ws/launch/serial_bridge.launch | 2 +-
 3 files changed, 2 insertions(+), 8 deletions(-)

diff --git a/utils/catkin_ws/launch/dario.launch b/utils/catkin_ws/launch/dario.launch
index 5816907..989d41a 100644
--- a/utils/catkin_ws/launch/dario.launch
+++ b/utils/catkin_ws/launch/dario.launch
@@ -1,7 +1,4 @@
-<launch>
-  <!-- Used to transmit and receive from serial -->
-  <include file="serial_bridge.launch" />
-  
+<launch>  
   <!-- Used to receive cmd_vel from Arduino -->
   <node name="rosserial_python" pkg="rosserial_python" type="serial_node.py">
 	  <param name="port" value="/dev/ttyUSB1" />
diff --git a/utils/catkin_ws/launch/joypad.launch b/utils/catkin_ws/launch/joypad.launch
index 836e76d..d024511 100644
--- a/utils/catkin_ws/launch/joypad.launch
+++ b/utils/catkin_ws/launch/joypad.launch
@@ -1,7 +1,4 @@
 <launch>
-  <!-- Used to transmit and receive from serial -->
-  <include file="serial_bridge.launch" />
-  
   <node name="joy_node" pkg="joy" type="joy_node" />
   <node name="joy_to_cmd_vel" pkg="joypad_bridge" type="joy_to_cmd_vel.py"/>
 </launch>
diff --git a/utils/catkin_ws/launch/serial_bridge.launch b/utils/catkin_ws/launch/serial_bridge.launch
index 45e0160..71462a0 100644
--- a/utils/catkin_ws/launch/serial_bridge.launch
+++ b/utils/catkin_ws/launch/serial_bridge.launch
@@ -5,7 +5,7 @@
   
   <!-- Node used to slow down /cmd_vel transmission to 10Hz -->
   <node name="cmd_vel_throttler" type="throttle" pkg="topic_tools" 
-    args="messages /cmd_vel 10 /cmd_vel_throttled" />
+    args="messages /cmd_vel 20 /cmd_vel_throttled" />
   
   <!-- Serial port -->  
   <param name="serial_port" value="/dev/ttyUSB0"/>
-- 
2.52.0