From f995614359828e7df7c82b1d9e3637bae8489f47 Mon Sep 17 00:00:00 2001
From: Viktor Liviniuk <viktor.liviniuk@gmail.com>
Date: Sun, 6 May 2018 17:31:11 +0000
Subject: [PATCH] added correct true multimaster parameters for secondary robot

---
 eurobot/launch/secondary_multimaster.launch      | 9 +++++++++
 eurobot/launch/secondary_multimaster_config.yaml | 3 +++
 eurobot/launch/secondary_robot.launch            | 2 +-
 3 files changed, 13 insertions(+), 1 deletion(-)
 create mode 100644 eurobot/launch/secondary_multimaster.launch
 create mode 100644 eurobot/launch/secondary_multimaster_config.yaml

diff --git a/eurobot/launch/secondary_multimaster.launch b/eurobot/launch/secondary_multimaster.launch
new file mode 100644
index 0000000..7ab117f
--- /dev/null
+++ b/eurobot/launch/secondary_multimaster.launch
@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<launch>
+
+    <node pkg="master_discovery_fkie" type="master_discovery" name="master_discovery" respawn="true">
+        <rosparam file="$(find eurobot)/launch/secondary_multimaster_config.yaml" command="load" />
+    </node>    
+    <node pkg="master_sync_fkie" type="master_sync" name="master_sync" respawn="true"/>
+
+</launch>
diff --git a/eurobot/launch/secondary_multimaster_config.yaml b/eurobot/launch/secondary_multimaster_config.yaml
new file mode 100644
index 0000000..a50a2db
--- /dev/null
+++ b/eurobot/launch/secondary_multimaster_config.yaml
@@ -0,0 +1,3 @@
+interface: "192.168.88.242"
+
+
diff --git a/eurobot/launch/secondary_robot.launch b/eurobot/launch/secondary_robot.launch
index 276c0fd..942fb7d 100644
--- a/eurobot/launch/secondary_robot.launch
+++ b/eurobot/launch/secondary_robot.launch
@@ -8,7 +8,7 @@
   <include file="$(find eurobot)/launch/params.launch"/>
   
   <!-- MULTYMASTER -->
-  <include file="$(find eurobot)/launch/multimaster.launch"/>
+  <include file="$(find eurobot)/launch/secondary_multimaster.launch"/>
   
   <include file="$(find eurobot_navigation)/launch/navigation_secondary.launch"/>