addd source code for using depth sensor without display

Author: antoinedang

Display/src/depth_no_display.cpp

@@ -0,0 +1,72 @@
+#include "SPI.h"
+#include "Adafruit_GFX.h"
+#include "Adafruit_ILI9341.h"
+#include <Wire.h>
+#include "MS5837.h"
+#include <ros.h>
+#include <auv_msgs/ThrusterMicroseconds.h>
+#include <std_msgs/Float32.h>
+#include <std_msgs/Float64.h>
+#include <std_msgs/Int32.h>
+#include <std_msgs/String.h>
+//#include <cmath>
+#include <math.h>
+
+// Define pin configurations
+#define TFT_DC 9
+#define TFT_CS 10
+
+// Define rotation constants
+#define ILI9341_ROTATION_0 0
+#define ILI9341_ROTATION_90 1
+#define ILI9341_ROTATION_180 2
+#define ILI9341_ROTATION_270 3
+
+// Initialize sensor object
+MS5837 sensor;
+
+// Initialize ROS node handle
+ros::NodeHandle nh;
+
+// Define publisher message variable
+std_msgs::Float64 depth_msg;
+
+// Define publishers and subscribers
+// Publishes depth
+// Subscribes to battery voltages, thruster microseconds, device statuses, status message, and tether status
+ros::Publisher DEPTH("/sensors/depth/z", &depth_msg);
+
+// Function to calculate and publish depth
+void publish_depth() {
+  depth_msg.data = sensor.depth();
+  DEPTH.publish(&depth_msg);
+}
+
+void setup() {
+  // Initialize I2C communication with sensor
+  Wire.begin();
+  sensor.init();
+  delay(1000);
+
+  sensor.setModel(MS5837::MS5837_30BA);
+  sensor.setFluidDensity(997);
+
+  // Initialize ROS node handle
+  nh.initNode();
+
+  // Advertise ROS publisher
+  nh.advertise(DEPTH);
+
+}
+
+void loop() {
+  // Handle ROS communication
+  nh.spinOnce();
+
+  // Read sensor data and publish depth
+  sensor.read();
+  publish_depth();
+
+  // Delay for stability
+  delay(10);
+}