From b8d57b8b423268c7dfb0e5885467ba86fa45ad9f Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Wed, 15 Nov 2017 22:02:12 +0300
Subject: [PATCH] Arudino-bridge launch file

---
 README.md                    | 1 +
 clever/launch/arduino.launch | 9 +++++++++
 clever/launch/clever.launch  | 4 ++++
 3 files changed, 14 insertions(+)
 create mode 100644 clever/launch/arduino.launch

diff --git a/README.md b/README.md
index 1caf379d..a8f8878a 100644
--- a/README.md
+++ b/README.md
@@ -46,5 +46,6 @@ sudo systemctl start clever
 * `dynamic_reconfigure`
 * `bondcpp`, ветка `master`
 * `roslint`
+* `rosserial`
 
 TODO: внести в package.xml
diff --git a/clever/launch/arduino.launch b/clever/launch/arduino.launch
new file mode 100644
index 00000000..6ddddf9e
--- /dev/null
+++ b/clever/launch/arduino.launch
@@ -0,0 +1,9 @@
+<launch>
+    <!-- Bridge to connected Arduino using rosserial -->
+    <arg name="device" default="/dev/serial/by-id/usb-1a86_USB2.0-Serial-if00-port0"/>
+    <!-- TODO: UART connection -->
+
+    <node pkg="rosserial_python" type="serial_node.py" name="serial_node">
+        <param name="port" value="$(arg device)"/>
+    </node>
+</launch>
diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch
index 8a6f1cab..ac5921db 100644
--- a/clever/launch/clever.launch
+++ b/clever/launch/clever.launch
@@ -8,6 +8,7 @@
     <arg name="camera" default="false"/>
     <arg name="fpv_camera" default="true"/>
     <arg name="fpv_camera_device" default="/dev/v4l/by-id/usb-HD_Camera_Manufacturer_USB_2.0_Camera-video-index0"/>
+    <arg name="arduino" default="false"/>
 
     <!-- mavros -->
     <include file="$(find clever)/launch/mavros.launch">
@@ -37,4 +38,7 @@
     <include file="$(find clever)/launch/fpv_camera.launch" if="$(arg fpv_camera)">
         <arg name="device" value="$(arg fpv_camera_device)"/>
     </include>
+
+    <!-- Arduino bridge -->
+    <include file="$(find clever)/launch/arduino.launch" if="$(arg arduino)"/>
 </launch>