From e101452e25ee0b20e61a071c197d3977483c7c1b Mon Sep 17 00:00:00 2001
From: Federica Di Lauro <federicadilauro1998@gmail.com>
Date: Tue, 25 Feb 2020 14:36:02 +0100
Subject: [PATCH] create roslaunch file for serial bridge

---
 utils/catkin_ws/serial_bridge.launch | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)
 create mode 100644 utils/catkin_ws/serial_bridge.launch

diff --git a/utils/catkin_ws/serial_bridge.launch b/utils/catkin_ws/serial_bridge.launch
new file mode 100644
index 0000000..45e0160
--- /dev/null
+++ b/utils/catkin_ws/serial_bridge.launch
@@ -0,0 +1,16 @@
+<launch>
+  <!-- Serial bridge nodes -->
+  <node name="serial_transmitter" pkg="serial_bridge" type="serial_transmitter.py"/>
+  <node name="serial_receiver" pkg="serial_bridge" type="serial_receiver.py"/>
+  
+  <!-- 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" />
+  
+  <!-- Serial port -->  
+  <param name="serial_port" value="/dev/ttyUSB0"/>
+  
+  <!-- Configuration parameters -->
+  
+  
+</launch>
-- 
2.52.0