From c8e617652828131d477c6847be455541240d4b7f Mon Sep 17 00:00:00 2001
From: PepMS <jmarti@iri.upc.edu>
Date: Sat, 21 Mar 2020 20:30:08 +0100
Subject: [PATCH] [gauss] Added gauss files

---
 config/gauss_params.yaml | 16 ++++++++++++++++
 launch/gauss.launch      |  8 ++++++++
 requirements.txt         |  2 +-
 3 files changed, 25 insertions(+), 1 deletion(-)
 create mode 100644 config/gauss_params.yaml
 create mode 100644 launch/gauss.launch

diff --git a/config/gauss_params.yaml b/config/gauss_params.yaml
new file mode 100644
index 0000000..2999ac3
--- /dev/null
+++ b/config/gauss_params.yaml
@@ -0,0 +1,16 @@
+mqtt:
+  client:
+    protocol: 4      # MQTTv311
+  connection:
+    host: localhost
+    port: 1883
+    keepalive: 60
+  private_path: device/001
+# Commenting the following lines makes the messages to be puclished in the MQTT server as JSON
+# serializer: msgpack:dumps
+# 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
diff --git a/launch/gauss.launch b/launch/gauss.launch
new file mode 100644
index 0000000..f05e45f
--- /dev/null
+++ b/launch/gauss.launch
@@ -0,0 +1,8 @@
+<launch>
+  <arg name="use_tls" default="false" />
+  <node name="mqtt_bridge" pkg="mqtt_bridge" type="mqtt_bridge_node.py" output="screen">
+    <rosparam command="delete" param="" />
+    <rosparam command="load" file="$(find mqtt_bridge)/config/gauss_params.yaml" />
+    <rosparam if="$(arg use_tls)" command="load" ns="mqtt" file="$(find mqtt_bridge)/config/tls_params.yaml" />
+  </node>
+</launch>
diff --git a/requirements.txt b/requirements.txt
index e2c322e..aa1a924 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,4 +1,4 @@
 bson>=0.5.2
-inject>=3.3.1
+inject==3.5.4
 paho-mqtt>=1.2
 msgpack-python>=0.4.8
-- 
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