# chemspeed_flex_driver
#### ROS Driver for ChemSpeed Flex
#### Uses a watch directory to communicate with the chemspeed
##### Written by Hatem Fakhruldeen

## How to Launch
The easiest way to launch the package is with roslaunch:
```
roslaunch chemspeed_flex_driver chemspeed_flex_driver.launch app_path:=<path\to\app>
```
This will launch the driver with specified app. Note that the app has to have the prespecified format to run with this driver. 
If no app path is provided the driver wouldn't run.

Alternatively, the chemspeed flex driver can be launched using rosrun:
```
rosrun chemspeed_flex_driver chemspeed_flex_node <path\to\app>
```
Similarly, if no app path argument is provided, the driver won't run.

## ROS Topics:
ChemSpeed_Flex_commands | For publishing commands to the driver. Refer to CSFlexCommand message for allowed messages.
ChemSpeed_Flex_status | Publishes the current state of the chemspeed.
