Minor naming issues in interface_rajant and mocha_core

Author: fcladera

interface_rajant/scripts/rajant_parser.py

@@ -109,20 +109,20 @@ def update_dict(self, data):
 
 def main(args=None):
     rclpy.init(args=args)
-    
+
     # Create a temporary node to get parameters
     temp_node = Node('temp_rajant_parser')
-    
+
     # Declare parameters
     temp_node.declare_parameter('robot_name', 'charon')
     temp_node.declare_parameter('robot_configs', '')
     temp_node.declare_parameter('radio_configs', '')
-    
+
     # Get parameters
     robot_name = temp_node.get_parameter('robot_name').get_parameter_value().string_value
     robot_configs_file = temp_node.get_parameter('robot_configs').get_parameter_value().string_value
     radio_configs_file = temp_node.get_parameter('radio_configs').get_parameter_value().string_value
-    
+
     # Load robot configs
     with open(robot_configs_file, "r") as f:
         robot_configs = yaml.load(f, Loader=yaml.FullLoader)
@@ -141,13 +141,13 @@ def main(args=None):
         temp_node.destroy_node()
         rclpy.shutdown()
         return
-    
+
     # Clean up temp node
     temp_node.destroy_node()
-    
+
     # Create the actual parser node
     rajant_parser = RajantParser(robot_name, robot_configs, radio_configs)
-    
+
     try:
         rclpy.spin(rajant_parser)
     except KeyboardInterrupt:

interface_rajant/scripts/rajant_query.py

@@ -73,17 +73,17 @@ def line_parser(line_bytes):
 class RajantQueryNode(Node):
     def __init__(self):
         super().__init__('rajant_query')
-        
+
         # Declare parameters
         self.declare_parameter('robot_name', 'charon')
         self.declare_parameter('robot_configs', '')
         self.declare_parameter('radio_configs', '')
-        
+
         # Get parameters
         self.robot_name = self.get_parameter('robot_name').get_parameter_value().string_value
         robot_configs_file = self.get_parameter('robot_configs').get_parameter_value().string_value
         radio_configs_file = self.get_parameter('radio_configs').get_parameter_value().string_value
-        
+
         # Load robot configs
         with open(robot_configs_file, "r") as f:
             robot_configs = yaml.load(f, Loader=yaml.FullLoader)
@@ -108,7 +108,7 @@ def __init__(self):
             return
 
         # Create ROS publisher
-        self.pub = self.create_publisher(String, 'ddb/rajant/log', 10)
+        self.pub = self.create_publisher(String, 'mocha/rajant/log', 10)
 
         # Get package path
         try:
@@ -125,10 +125,10 @@ def __init__(self):
         self.p = None
         self.q = None
         self.t = None
-        
+
         # Start the Java process
         self.start_java_process()
-        
+
         # Go
         self.get_logger().info(f"{self.robot_name} - Rajant API Query - Starting on {rajant_name}")
 
@@ -187,9 +187,9 @@ def process_rajant_data(self):
 
 def main(args=None):
     rclpy.init(args=args)
-    
+
     rajant_query_node = RajantQueryNode()
-    
+
     try:
         rclpy.spin(rajant_query_node)
     except KeyboardInterrupt:

mocha_core/mocha_core/database_server.py

@@ -65,7 +65,7 @@ def database_cb(robot_id, topic_id, ts, header):
             database_cb_msg.header.frame_id = self.robot_name
             database_cb_msg.robot_id = robot_id
             database_cb_msg.topic_id = topic_id
-            database_cb_msg.msgheader = header
+            database_cb_msg.msg_header = header
             pub_database.publish(database_cb_msg)
 
         # Create the empty database with lock

mocha_core/mocha_core/mocha.py

@@ -37,7 +37,7 @@ def ping(host):
 
 class Mocha(Node):
     def __init__(self):
-        super().__init__("mocha_setver")
+        super().__init__("mocha")
 
         # Handle shutdown signal
         self.shutdownTriggered = threading.Event()
@@ -155,7 +155,7 @@ def make_callback(ch):
 
             self.create_subscription(
                 std_msgs.msg.Int32,
-                'ddb/rajant/rssi/' + other_robot,
+                'mocha/rajant/rssi/' + other_robot,
                 make_callback(channel),
                 10
             )

mocha_core/msg/DatabaseCB.msg

@@ -1,4 +1,4 @@
 std_msgs/Header header
 uint16  robot_id
 uint16  topic_id
-uint8[] msgheader
+uint8[] msg_header