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ai draft of ptz control code

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This commit is contained in:
Tristan McGinnis
2025-05-25 18:08:56 -06:00
parent 4a9a0bfb0d
commit 3ed821f4fb
8 changed files with 931 additions and 5 deletions
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27
rover_launch.py
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@@ -38,6 +38,16 @@ def launch_setup(context, *args, **kwargs):
on_exit=Shutdown()
)
)
nodes.append(
Node(
package='core_pkg',
executable='ptz', # change as needed
name='ptz',
output='both'
# Currently don't shutdown all nodes if the PTZ node fails, as it is not critical
# on_exit=Shutdown() # Uncomment if you want to shutdown on PTZ failure
)
)
nodes.append(
Node(
package='bio_pkg',
@@ -58,7 +68,7 @@ def launch_setup(context, *args, **kwargs):
on_exit=Shutdown()
)
)
elif mode in ['arm', 'core', 'bio']:
elif mode in ['arm', 'core', 'bio', 'ptz']:
# Only launch the node corresponding to the provided mode.
if mode == 'arm':
nodes.append(
@@ -93,10 +103,19 @@ def launch_setup(context, *args, **kwargs):
on_exit=Shutdown()
)
)
elif mode == 'ptz':
nodes.append(
Node(
package='core_pkg',
executable='ptz',
name='ptz',
output='both'
on_exit=Shutdown(), #on fail, shutdown if this was the only node to be launched
)
)
else:
# If an invalid mode is provided, print an error.
# (You might want to raise an exception or handle it differently.)
print("Invalid mode provided. Choose one of: arm, core, bio, anchor.")
print("Invalid mode provided. Choose one of: arm, core, bio, anchor, ptz.")
return nodes
@@ -104,7 +123,7 @@ def generate_launch_description():
declare_arg = DeclareLaunchArgument(
'mode',
default_value='anchor',
description='Launch mode: arm, core, bio, or anchor'
description='Launch mode: arm, core, bio, anchor, or ptz'
)
return LaunchDescription([