From 9c7381d6e7d8f544d31f77b08b180f77e34fba15 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Wed, 16 Aug 2023 08:27:06 +0200
Subject: [PATCH] update: middleware node added

---
 launch/robot_joystick.launch.py | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/launch/robot_joystick.launch.py b/launch/robot_joystick.launch.py
index ffc63a4..d7530f6 100644
--- a/launch/robot_joystick.launch.py
+++ b/launch/robot_joystick.launch.py
@@ -73,7 +73,14 @@ def generate_launch_description():
             executable='rmp220_teleop',
             name='rmp220_teleop',
             remappings=[('cmd_vel', 'cmd_vel_joy')],
-        )   
+        )
+    
+    rmp_middleware_node = Node(
+            package='rmp220_middleware',
+            executable='rmp220_middleware',
+            name='rmp220_middleware',
+            #namespace = namespace
+         )
 
     return LaunchDescription([
         DeclareLaunchArgument(
@@ -83,5 +90,6 @@ def generate_launch_description():
         joy_node,
         teleop_node,
         #rmp_teleop_node,
-        twist_mux_node
+        twist_mux_node,
+        rmp_middleware_node
     ])
\ No newline at end of file