From 5da0e86b5fd6a9a952aeee3338f2bd684a8720cb Mon Sep 17 00:00:00 2001
From: potus <jvallve@iri.upc.edu>
Date: Mon, 23 Nov 2020 17:41:43 +0100
Subject: [PATCH] positioning and state messages

---
 config/gauss_local_server.yaml  | 10 +++++++---
 config/gauss_remote_server.yaml |  8 ++++++--
 2 files changed, 13 insertions(+), 5 deletions(-)

diff --git a/config/gauss_local_server.yaml b/config/gauss_local_server.yaml
index ffa7f71..4758837 100644
--- a/config/gauss_local_server.yaml
+++ b/config/gauss_local_server.yaml
@@ -15,6 +15,10 @@ mqtt:
 # deserializer: msgpack:loads
 bridge:
   - factory: mqtt_bridge.bridge:RosToMqttBridge
-    msg_type: iri_gnss_msgs.msg:Rpa_positioning_info
-    topic_from: /iri_gnss_data/rpa_positioning_info
-    topic_to: rpa_position
+    msg_type: gauss_ros.msg:RpaPositioningInfo
+    topic_from: /wolf_ros_node/rpa_positioning_info
+    topic_to: rpa_positioning_info
+  - factory: mqtt_bridge.bridge:RosToMqttBridge
+    msg_type: gauss_ros.msg:RpaStateInfo
+    topic_from: /wolf_ros_node/rpa_state_info
+    topic_to: rpa_state_info
diff --git a/config/gauss_remote_server.yaml b/config/gauss_remote_server.yaml
index e68489b..ffe630d 100644
--- a/config/gauss_remote_server.yaml
+++ b/config/gauss_remote_server.yaml
@@ -15,6 +15,10 @@ mqtt:
 # deserializer: msgpack:loads
 bridge:
   - factory: mqtt_bridge.bridge:RosToMqttBridge
-    msg_type: gauss_ros.msg:Rpa_positioning_info
+    msg_type: gauss_ros.msg:RpaPositioningInfo
     topic_from: /wolf_ros_node/rpa_positioning_info
-    topic_to: rpa_position
+    topic_to: rpa_positioning_info
+  - factory: mqtt_bridge.bridge:RosToMqttBridge
+    msg_type: gauss_ros.msg:RpaStateInfo
+    topic_from: /wolf_ros_node/rpa_state_info
+    topic_to: rpa_state_info
-- 
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