From c47e70e8594433b18ec2b8763f48d6724e479372 Mon Sep 17 00:00:00 2001
From: Michael Carlstrom <rmc@carlstrom.com>
Date: Tue, 30 Apr 2024 10:47:25 -0400
Subject: [PATCH] lampi demo start

---
 config/lampi.yaml                             |  6 ++++
 launch/bridge_launch.py                       | 24 ----------------
 ...urtle_sim_launch.py => demo_pub_launch.py} | 28 ++++++++++++++++++-
 launch/demo_sub_launch.py                     | 10 ++++++-
 ...emo_pub_bridge_launch.py => lampi_demo.py} | 15 +++++++---
 5 files changed, 53 insertions(+), 30 deletions(-)
 create mode 100644 config/lampi.yaml
 delete mode 100644 launch/bridge_launch.py
 rename launch/{demo_turtle_sim_launch.py => demo_pub_launch.py} (50%)
 rename launch/{demo_pub_bridge_launch.py => lampi_demo.py} (79%)

diff --git a/config/lampi.yaml b/config/lampi.yaml
new file mode 100644
index 0000000..fc6552e
--- /dev/null
+++ 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
deleted file mode 100644
index 50f739d..0000000
--- a/launch/bridge_launch.py
+++ /dev/null
@@ -1,24 +0,0 @@
-from launch.launch_description import LaunchDescription
-from launch_ros.actions import Node
-
-
-def generate_launch_description() -> LaunchDescription:
-    """
-    Generate LaunchDescription for MQTT ROS bridge.
-
-    Returns
-    -------
-    LaunchDescription
-        Launches bridge_node.
-
-    """
-    run_bridge_node = Node(
-        package='mqtt_ros_bridge',
-        executable='bridge_node',
-        emulate_tty=True,
-        output='screen'
-    )
-
-    return LaunchDescription([
-        run_bridge_node
-    ])
diff --git a/launch/demo_turtle_sim_launch.py b/launch/demo_pub_launch.py
similarity index 50%
rename from launch/demo_turtle_sim_launch.py
rename to launch/demo_pub_launch.py
index 0c1e83b..b5e6e09 100644
--- a/launch/demo_turtle_sim_launch.py
+++ b/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
@@ -13,6 +16,20 @@ 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',
@@ -20,7 +37,16 @@ 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", "2"),
-        turtle_sim
+        run_bridge_node,
+        turtle_sim,
+        rqt
     ])
diff --git a/launch/demo_sub_launch.py b/launch/demo_sub_launch.py
index d81e866..b6f02c0 100644
--- 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 b/launch/lampi_demo.py
similarity index 79%
rename from launch/demo_pub_bridge_launch.py
rename to launch/lampi_demo.py
index ac0cb7f..8b6f55e 100644
--- a/launch/demo_pub_bridge_launch.py
+++ b/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
     ])