lampi demo start

benjaminwp18 · Apr 30, 2024 · c47e70e · c47e70e
1 parent cefac0a
commit c47e70e
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Showing 5 changed files with 53 additions and 30 deletions.
diff --git a/config/lampi.yaml b/config/lampi.yaml
@@ -0,0 +1,6 @@
+mqtt_ros_bridge:
+  ros__parameters:
+    lampi: 
+      topic: "/devices/b827eb3d9134/lamp/set_config"
+      type: "lampi_msgs.msg:Lampi"
+      publish_on_ros: False
diff --git a/launch/bridge_launch.py b/launch/bridge_launch.py
diff --git a/launch/demo_turtle_sim_launch.py → launch/demo_pub_launch.py b/launch/demo_turtle_sim_launch.py → launch/demo_pub_launch.py
@@ -1,3 +1,6 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
 from launch.actions import SetEnvironmentVariable
 from launch.launch_description import LaunchDescription
 from launch_ros.actions import Node
@@ -13,14 +16,37 @@ def generate_launch_description() -> LaunchDescription:
         Launches bridge_node.
 
     """
+    config = os.path.join(
+        get_package_share_directory('mqtt_ros_bridge'),
+        'config',
+        'pub.yaml'
+    )
+
+    run_bridge_node = Node(
+        package='mqtt_ros_bridge',
+        executable='bridge_node',
+        emulate_tty=True,
+        output='screen',
+        arguments=[config]
+    )
+
     turtle_sim = Node(
         package='turtlesim',
         executable='turtlesim_node',
         emulate_tty=True,
         output='screen'
     )
 
+    rqt = Node(
+        package='rqt_gui',
+        executable='rqt_gui',
+        emulate_tty=True,
+        output='screen'
+    )
+
     return LaunchDescription([
         SetEnvironmentVariable("ROS_DOMAIN_ID", "2"),
-        turtle_sim
+        run_bridge_node,
+        turtle_sim,
+        rqt
     ])
diff --git a/launch/demo_sub_launch.py b/launch/demo_sub_launch.py
@@ -38,8 +38,16 @@ def generate_launch_description() -> LaunchDescription:
         output='screen'
     )
 
+    rqt = Node(
+        package='rqt_gui',
+        executable='rqt_gui',
+        emulate_tty=True,
+        output='screen'
+    )
+
     return LaunchDescription([
         SetEnvironmentVariable("ROS_DOMAIN_ID", "1"),
         run_bridge_node,
-        turtle_sim
+        turtle_sim,
+        rqt
     ])
diff --git a/launch/demo_pub_bridge_launch.py → launch/lampi_demo.py b/launch/demo_pub_bridge_launch.py → launch/lampi_demo.py
@@ -19,8 +19,8 @@ def generate_launch_description() -> LaunchDescription:
     config = os.path.join(
         get_package_share_directory('mqtt_ros_bridge'),
         'config',
-        'pub.yaml'
-    )
+        'lampi.yaml'
+        )
 
     run_bridge_node = Node(
         package='mqtt_ros_bridge',
@@ -30,7 +30,14 @@ def generate_launch_description() -> LaunchDescription:
         arguments=[config]
     )
 
+    rqt = Node(
+        package='rqt_gui',
+        executable='rqt_gui',
+        emulate_tty=True,
+        output='screen'
+    )
+
     return LaunchDescription([
-        SetEnvironmentVariable("ROS_DOMAIN_ID", "2"),
-        run_bridge_node
+        run_bridge_node,
+        rqt
     ])