From ad07d2f1cab7cd099cc9131eaf27797eb2471005 Mon Sep 17 00:00:00 2001
From: Emanuele <ema.trabattoni@gmail.com>
Date: Tue, 29 Oct 2019 11:06:33 +0100
Subject: [PATCH] Aggiornalo launch con i nuovi topic

---
 .../launch/roboglue_ros_urdriver_norviz.launch         | 10 +++++++---
 1 file changed, 7 insertions(+), 3 deletions(-)

diff --git a/src/roboglue_ros/launch/roboglue_ros_urdriver_norviz.launch b/src/roboglue_ros/launch/roboglue_ros_urdriver_norviz.launch
index 796b002..844e17c 100644
--- a/src/roboglue_ros/launch/roboglue_ros_urdriver_norviz.launch
+++ b/src/roboglue_ros/launch/roboglue_ros_urdriver_norviz.launch
@@ -19,9 +19,11 @@
         <param name="INstate"   type="string" value="/roboglue_com/com2ros/state" />
         <param name="INcommands" type="string" value="/roboglue_com/com2ros/commands" />
         <param name="INcoordinates" type="string" value="/roboglue_com/com2ros/coordinates" />
+        <param name="INinterface" type="string" value="/roboglue_com/com2ros/interface" />
         <param name="OUTstate" type="string" value="/roboglue_com/ros2com/state" />
         <param name="OUTcommands" type="string" value="/roboglue_com/ros2com/commands" />
         <param name="OUTcoordinates" type="string" value="/roboglue_com/ros2com/coordinates" />
+        <param name="OUTinterface" type="string" value="/roboglue_com/ros2com/interface" />
         <!-- ROS movement topics (For UR official driver use scalable position controller) -->
         <param name="OUTdelta_jog" type="string" value="/jog_arm_server/delta_jog_cmds" />
         <param name="OUTdelta_joint_jog" type="string" value="/jog_arm_server/delta_joint_jog_cmds" />
@@ -40,28 +42,30 @@
     <!-- Message Relay to/from MQTT -->
     <node name="roboglue_ros_relay" pkg="roboglue_ros" type="roboglue_ros_relay" output="screen" required="true">
         <param name="parameter_ns" type="string" value="/roboglue_ros_common/" />
-        <param name="startup_msg" type="string" value='{"STARTUP":"RELAY"}'/>
+        <param name="startup_msg" type="string" value="STARTUP_RELAY"/>
         <param name="mqtt_host" type="string" value="tcp://localhost:1883" />
         <param name="mqtt_qos" type="int" value="0" />
         <param name="mqtt_INstate" type="string" value="roboglue_com/com2ros/state" />
         <param name="mqtt_INcommands" type="string" value="roboglue_com/com2ros/commands" />
         <param name="mqtt_INcoordinates" type="string" value="roboglue_com/com2ros/coordinates" />
+        <param name="mqtt_INinterface" type="string" value="roboglue_com/com2ros/interface" />
         <param name="mqtt_OUTstate" type="string" value="roboglue_com/ros2com/state" />
         <param name="mqtt_OUTcommands" type="string" value="roboglue_com/ros2com/commands" />
         <param name="mqtt_OUTcoordinates" type="string" value="roboglue_com/ros2com/coordinates" />
+        <param name="mqtt_OUTinterface" type="string" value="roboglue_com/ros2com/interface" />
     </node>
 
     <!-- Real Time Tracking -->
     <node name="roboglue_ros_follower" pkg="roboglue_ros" type="roboglue_ros_follower" output="screen" required="true">
         <param name="parameter_ns" type="string" value="roboglue_ros_common" />
-        <param name="startup_msg" type="string" value='{"STARTUP":"FOLLOWER"}'/>
+        <param name="startup_msg" type="string" value="STARTUP_FOLLOWER"/>
         <param name="jog_pub_rate" type="int" value="5" />
     </node>
 
     <!-- Tracking data Recorder/Player -->
     <node name="roboglue_ros_recorder" pkg="roboglue_ros" type="roboglue_ros_recorder" output="screen" required="true">
         <param name="parameter_ns" type="string" value="/roboglue_ros_common/" />
-        <param name="startup_msg" type="string" value='{"STARTUP":"RECORDER"}'/>
+        <param name="startup_msg" type="string" value="STARTUP_RECORDER"/>
         <param name="point_group_mode" type="string" value="dist" />
         <param name="planning_mode" type="string" value="path" />
         <param name="meta_dir" type="string" value="/home/emanuele/Documents/GestioneMacchine/Robot_Incollaggio/Software/roboglue_ros_ws/src/roboglue_ros/config/meta/" />