/*
* <launch>
* <node name="sample_device" pkg="sample_device" type="sample_device.py" respawn="true" respawn_delay="4" >
* <param name="telnet_host" value="192.168.1.116"/>
* <param name="telnet_port" value="2001"/>
*
* <param name="rate" value="10"/>
* <param name="read_timeout" value="4"/>
* </node>
* </launch>
*/
private LaunchFileDocument GenerateLaunchFile(Configuration device)
{
var launchFile = new LaunchFileDocument();
var node = new NodeElement
{
Name = device.Name,
Pkg = "sample_device",
Type = "sample_device.py",
Output = "screen"
};
node.SetRespawnSettings(device.Respawn, device.RespawnDelay);
node.AddParam("telnet_host", value: device.Host);
node.AddParam("telnet_port", value: XmlConvert.ToString(device.Port));
node.AddParam("rate", value: XmlConvert.ToString(device.Rate));
node.AddParam("read_timeout", value: XmlConvert.ToString(device.ReadTimeout));
launchFile.AddNode(node);
return(launchFile);
}
