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Update arm node message types for anchor

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Tristan McGinnis
2025-02-20 15:00:17 -06:00
parent d000a2007a
commit 4090f63890
1 changed files with 5 additions and 4 deletions
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9
src/arm_pkg/arm_pkg/arm_node.py
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@@ -142,12 +142,13 @@ class SerialRelay(Node):
return return
def send_cmd(self, cmd): def send_cmd(self, msg):
if self.launch_mode == 'anchor': #if in anchor mode, send to anchor node to relay if self.launch_mode == 'anchor': #if in anchor mode, send to anchor node to relay
self.anchor_pub.publish(cmd) output = String()
output.data = msg
self.anchor_pub.publish(output)
elif self.launch_mode == 'arm': #if in standalone mode, send to MCU directly elif self.launch_mode == 'arm': #if in standalone mode, send to MCU directly
self.ser.write(bytes(cmd, "utf8")) self.ser.write(bytes(msg, "utf8"))
#print(f"[Arm Wrote] {cmd}", end="")
def anchor_feedback(self, msg): def anchor_feedback(self, msg):
self.get_logger.info(f"[Arm Anchor] {msg.data}", end="") self.get_logger.info(f"[Arm Anchor] {msg.data}", end="")