🎉 feat: boiler plate

Author: sheeshDotExe

mission/internal_status_auv/internal_status_auv/gripper_feedback_lib.py

@@ -0,0 +1,2 @@
+class GripperFeedback:
+    pass

mission/internal_status_auv/internal_status_auv/gripper_feedback_node.py

@@ -0,0 +1,37 @@
+#!/usr/bin/env python3
+# ROS2 Libraries
+import rclpy
+from rclpy.node import Node
+from rclpy.logging import get_logger
+from std_msgs.msg import Float32MultiArray
+
+# Custom Libraries
+import internal_status_auv.gripper_feedback_lib
+
+
+class GripperFeedbackPublisher(Node):
+    def __init__(self):
+        # Gripper feedback sensor setup ----------
+        self.GripperFeedback = (
+            internal_status_auv.gripper_feedback_lib.GripperFeedback()
+        )
+
+        # Node setup ----------
+        super().__init__("gripper_feedback_publisher")
+
+        # Create publishers ----------
+        # Shoulder, wrist, grip
+        self.gripper_feedback_publisher = self.create_publisher(
+            Float32MultiArray, "/auv/gripper_feedback", 5
+        )
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    gripper_feedback_publisher = GripperFeedbackPublisher()
+
+    rclpy.spin(gripper_feedback_publisher)
+
+    gripper_feedback_publisher.destroy_node()
+    rclpy.shutdown()

mission/internal_status_auv/internal_status_auv/pressure_sensor_node.py

@@ -13,43 +13,48 @@ class PressurePublisher(Node):
 
     def __init__(self):
         # Pressure sensor setup ----------
-        self.Pressure = internal_status_auv.pressure_sensor_lib.PressureSensor(
-        )
+        self.Pressure = internal_status_auv.pressure_sensor_lib.PressureSensor()
 
         # Node setup ----------
-        super().__init__('pressure_sensor_publisher')
+        super().__init__("pressure_sensor_publisher")
 
         # Create publishers ----------
-        self.publisher_pressure = self.create_publisher(
-            Float32, '/auv/pressure', 5)
+        self.publisher_pressure = self.create_publisher(Float32, "/auv/pressure", 5)
 
         # Data gathering cycle ----------
         self.pressure = 0.0
 
         self.declare_parameter(
             "internal_status.pressure_read_rate", 1.0
         )  # Providing a default value 1.0 => 1 second delay per data gathering
-        read_rate = self.get_parameter("internal_status.pressure_read_rate"
-                                       ).get_parameter_value().double_value
+        read_rate = (
+            self.get_parameter("internal_status.pressure_read_rate")
+            .get_parameter_value()
+            .double_value
+        )
         timer_period = 1.0 / read_rate
         self.timer = self.create_timer(timer_period, self.timer_callback)
 
         # Watchdog for anomalies ----------
         self.logger = get_logger("pressure_sensor")
 
-        self.declare_parameter("internal_status.pressure_critical_level",
-                               1000.0)
-        self.pressureCriticalLevel = self.get_parameter(
-            "internal_status.pressure_critical_level").get_parameter_value(
-            ).double_value
+        self.declare_parameter("internal_status.pressure_critical_level", 1000.0)
+        self.pressureCriticalLevel = (
+            self.get_parameter("internal_status.pressure_critical_level")
+            .get_parameter_value()
+            .double_value
+        )
 
         self.declare_parameter("internal_status.pressure_warning_rate", 0.1)
-        warning_rate = self.get_parameter(
-            "internal_status.pressure_warning_rate").get_parameter_value(
-            ).double_value
+        warning_rate = (
+            self.get_parameter("internal_status.pressure_warning_rate")
+            .get_parameter_value()
+            .double_value
+        )
         warning_timer_period = 1.0 / warning_rate
-        self.warning_timer = self.create_timer(warning_timer_period,
-                                               self.warning_timer_callback)
+        self.warning_timer = self.create_timer(
+            warning_timer_period, self.warning_timer_callback
+        )
 
         # Debuging ----------
         self.get_logger().info('"pressure_sensor_publisher" has been started')
@@ -65,7 +70,7 @@ def timer_callback(self):
 
     def warning_timer_callback(self):
         # Check if Pressure is abnormaly to high, if so print a warning
-        if (self.pressure > self.pressureCriticalLevel):
+        if self.pressure > self.pressureCriticalLevel:
             self.logger.fatal(
                 f"WARNING: Internal pressure to HIGH: {self.pressure} hPa! Drone might be LEAKING!"
             )
@@ -85,5 +90,5 @@ def main(args=None):
     rclpy.shutdown()
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     main()

mission/internal_status_auv/launch/internal_status_auv.launch.py

@@ -10,36 +10,47 @@ def generate_launch_description():
         get_package_share_directory("internal_status_auv"),
         "../../../../",  # Navigate to the workspace root
         "src/vortex-auv/auv_setup/config/robots/",  # Directory containing YAML files
-        'orca.yaml'  # Configuration file for the orca robot
+        "orca.yaml",  # Configuration file for the orca robot
     )
 
     # Power Sense Module Node
     power_sense_module_node = Node(
-        package='internal_status_auv',
-        executable='power_sense_module_node.py',
-        output='screen',
+        package="internal_status_auv",
+        executable="power_sense_module_node.py",
+        output="screen",
         parameters=[yaml_file_path],
     )
 
     # Pressure Sensor Node
     pressure_sensor_node = Node(
-        package='internal_status_auv',
-        executable='pressure_sensor_node.py',
-        output='screen',
+        package="internal_status_auv",
+        executable="pressure_sensor_node.py",
+        output="screen",
         parameters=[yaml_file_path],
     )
 
     # Temperature Sensor Node
     temperature_sensor_node = Node(
-        package='internal_status_auv',
-        executable='temperature_sensor_node.py',
-        output='screen',
+        package="internal_status_auv",
+        executable="temperature_sensor_node.py",
+        output="screen",
+        parameters=[yaml_file_path],
+    )
+
+    # Gripper feedback Node
+    gripper_feedback_node = Node(
+        package="internal_status_auv",
+        executable="gripper_feedback_node.py",
+        output="screen",
         parameters=[yaml_file_path],
     )
 
     # Launch Nodes
-    return LaunchDescription([
-        power_sense_module_node,
-        pressure_sensor_node,
-        temperature_sensor_node,
-    ])
+    return LaunchDescription(
+        [
+            power_sense_module_node,
+            pressure_sensor_node,
+            temperature_sensor_node,
+            gripper_feedback_node,
+        ]
+    )