Add launch file for rscp tcp client

Author: funsafe-math

kalman_arc/README.md

@@ -17,3 +17,9 @@ rqt --standalone kalman_arc/RscpPublisher
 
 It is also available in the regular rqt plugin menu under
 `Plugins > Kalman > RSCP Publisher`.
+
+## For RSCP with raspi
+
+``bash
+rqt --standalone kalman_arc/RscpOverTCP
+```

kalman_arc/launch/rscp_tcp_client.launch.py

@@ -0,0 +1,36 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
+
+
+def generate_launch_description():
+    return LaunchDescription(
+        [
+            DeclareLaunchArgument(
+                "ip_address",
+                description="IP address of the RSCP TCP server.",
+            ),
+            DeclareLaunchArgument(
+                "port",
+                default_value="5555",
+                description="TCP port of the RSCP TCP server.",
+            ),
+            Node(
+                package="kalman_arc",
+                executable="rscp_tcp_client",
+                name="rscp_tcp_client",
+                parameters=[
+                    {
+                        "host": LaunchConfiguration("ip_address"),
+                        "port": ParameterValue(
+                            LaunchConfiguration("port"),
+                            value_type=int,
+                        ),
+                    }
+                ],
+                output="screen",
+            ),
+        ]
+    )