<launch>
  <group ns="silverhammer">
    <!-- FC to OCS -->
    <node pkg="jsk_network_tools" type="silverhammer_lowspeed_streamer.py"
          output="screen"
          name="fc_streamer">
      <rosparam>
        message: jsk_network_tools/FC2OCS
        to_port: 1024
        send_rate: 1.0
      </rosparam>
      <remap from="~input" to="fc2ocs_original" />
    </node>
    <node pkg="jsk_network_tools" type="silverhammer_lowspeed_receiver.py"
          output="screen"
          name="fc_receiver">
      <rosparam>
        message: jsk_network_tools/FC2OCS
        receive_port: 1024
      </rosparam>
    </node>

    <!-- OCS to FC -->
    <node pkg="jsk_network_tools" type="silverhammer_lowspeed_streamer.py"
          output="screen"
          name="ocs_streamer">
      <rosparam>
        message: jsk_network_tools/OCS2FC
        to_port: 1025
        send_rate: 1.0
      </rosparam>
      <remap from="~input" to="ocs2fc_original" />
    </node>
    <node pkg="jsk_network_tools" type="silverhammer_lowspeed_receiver.py"
          output="screen"
          name="ocs_receiver">
      <rosparam>
        message: jsk_network_tools/OCS2FC
        receive_port: 1025
      </rosparam>
    </node>
    
    <node pkg="jsk_network_tools" type="fc2ocs_publisher.py" name="fc2ocs_original">
      <rosparam>
        pub_rate: 1000
      </rosparam>
    </node>
    <node pkg="jsk_network_tools" type="ocs2fc_publisher.py" name="ocs2fc_original" />
    <node pkg="rqt_console" type="rqt_console" name="silverhammer_console" />
    <node pkg="rqt_graph" type="rqt_graph" name="silverhammer_graph" />
  </group>
</launch>
