Add script to bind rfcomm device to remote Bluetooth device

[708yamaguchi]

cherry-picked from knorth55#146

I add script to bind rfcomm device to remote bluetooth device.

By binding rfcomm device, we can connect bluetooth device via rosserial.
https://github.com/sktometometo/M5Stack_Bluetooth_rosserial_example

Usage

Save the bluetooth device MAC address to file like (/var/lib/robot/rfcomm_devices.yaml)

- name: device1
  address: XX:XX:XX:XX:XX:XX
- name: device2
  address: YY:YY:YY:YY:YY:YY

Then, run this program.
If you use PR2,

roslaunch jsk_pr2_startup pr2_rfcomm_bind.launch machine:=c2  # bluetooth dongle is now in c2

management

Currently, I automatically start the above launch file by upstart in PR2.

The config file is in /etc/upstart/jsk-rfcomm-bind.conf in pr2.

To check how many devices are bound to rfcomm, use rfcomm command.

ssh pr2
ssh c2
rfcomm

[k-okada]

Please add usage information on README.md https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_robot_common/jsk_robot_startup/README.md, https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_pr2_robot/README.md, https://github.com/jsk-ros-pkg/jsk_robot/tree/master/jsk_pr2_robot/jsk_pr2_startup

[708yamaguchi]

Thank you very much for your advice.

I add usage and management information to README.md.

[708yamaguchi]

With this commit, existing rfcomm devices is cleared when rfcomm_bind.py is executed.

If we continue to call rfcomm_bind.py without clearing rfcomm devices, the number of rfcomm devices will continue to increase, making it difficult to manage.