sub8_thrust_and_kill_board, NaviGator/mission_control/navigator_alarm migration, navigator_emergency_control, navigator_joystick_control, and navigator_keyboard_control to ROS2 #1174
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Hi! I think you did not include the files you wanted to change in this PR. Please include those and change this PR to a non-draft PR and I'll take a look then! Thank you nihar! |
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I also included the NaviGator/mission_control/navigator_alarm package migrated to ros2 in the PR. |
SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/handle.py
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| @@ -154,6 +155,6 @@ def on_data(self, data: bytes, can_id: int) -> None: | |||
| packet = ThrustPacket.from_bytes(data) | |||
| elif data[0] == HeartbeatMessage.IDENTIFIER: | |||
| packet = HeartbeatMessage.from_bytes(data) | |||
| self._last_heartbeat = rospy.Time.now() | |||
| self._last_heartbeat = self.get_clock().now() | |||
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Yeah, for this, you're going to need to make this class into a node. Otherwise, it will not be able to get the current time.
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What if I use the Clock().now() command from rclpy.clock? The current time is stored in a variable and the Clock().now() retrieves the current time without the need for a node.
… navigator_keyboard_control to ros2
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added navigator_emergency_control, navigator_joystick_control, and navigator_keyboard_control packages to PR |
I modified the code in handle.py and simulation.py to migrate the sub8_thrust_and_kill_board package to ROS2.