Merge pull request #69 from LCAS/ros2-devel

Ros2 devel

Author: jondave

src/RobotStateMachine

@@ -75,8 +75,8 @@ monitors: #[]
   #   timeout: 10
   #   default_notifications: False
 
-  - name: "/chatter/safety_critical"
-    message_type: "std_msgs/msg/String"
+  - name: "/hunter_status"
+    message_type: "hunter_msgs/msg/HunterStatus"
     rate: 10
     N: 5
     qos:
@@ -90,43 +90,13 @@ monitors: #[]
       safety_critical: true      # ← leave false if this “published” check shouldn’t gate safety‐beat
       autonomy_critical: true    # ← set true if you want mere “published” to gate warning‐beat
     signal_lambdas:
-    - expression: "lambda data: data.data == 'hello'"
+    - expression: "lambda data: data.battery_voltage >= 20.0"
       timeout: 2.0
-      safety_critical: false     # affects safety beat
-      autonomy_critical: false   # doesn’t affect warning beat
-      process_indices: [2]       # indexes into `execute` list (optional)
-      repeat_exec: false         # run every time satisfied?
-      tags: ["resolution"]
+      safety_critical: false
+      autonomy_critical: false
+      process_indices: [2]       # Optional
+      repeat_exec: false         # Only execute once when condition is met
+      tags: ["battery_check"]
     execute: []
     timeout: 10
     default_notifications: False
-
-# ros2 topic pub --rate 10 /chatter/safety_critical std_msgs/msg/String "{data: 'hello'}"
-
-  - name: "/chatter_autonomy_critical"
-    message_type: "std_msgs/msg/String"
-    rate: 10
-    N: 5
-    qos:
-      reliability: "reliable"
-      durability: "volatile"
-      depth: 5
-
-    signal_when:
-      condition: "published"
-      timeout: 30
-      safety_critical: false      # ← leave false if this “published” check shouldn’t gate safety‐beat
-      autonomy_critical: true    # ← set true if you want mere “published” to gate warning‐beat
-    signal_lambdas:
-    - expression: "lambda data: data.data == 'hello'"
-      timeout: 2.0
-      safety_critical: false     # affects safety beat
-      autonomy_critical: false   # doesn’t affect warning beat
-      process_indices: [2]       # indexes into `execute` list (optional)
-      repeat_exec: false         # run every time satisfied?
-      tags: ["resolution"]
-    execute: []
-    timeout: 10
-    default_notifications: False
-
-# ros2 topic pub --rate 10 /chatter_autonomy_critical std_msgs/msg/String "{data: 'hello'}"