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style: get ready for main

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David
2025-08-12 08:49:12 -05:00
parent cdc2c7e703
commit 4e1e0e29dd
2 changed files with 162 additions and 177 deletions
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22
src/core_pkg/core_pkg/core_node.py
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@@ -20,16 +20,16 @@ from ros2_interfaces_pkg.msg import CoreControl
serial_pub = None
thread = None
control_qos = qos.QoSProfile(
history=qos.QoSHistoryPolicy.KEEP_LAST,
depth=1,
reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
durability=qos.QoSDurabilityPolicy.VOLATILE,
deadline=1000,
lifespan=500,
liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
liveliness_lease_duration=5000
)
# control_qos = qos.QoSProfile(
# history=qos.QoSHistoryPolicy.KEEP_LAST,
# depth=1,
# reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
# durability=qos.QoSDurabilityPolicy.VOLATILE,
# deadline=1000,
# lifespan=500,
# liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
# liveliness_lease_duration=5000
# )
class SerialRelay(Node):
def __init__(self):
@@ -45,7 +45,7 @@ class SerialRelay(Node):
self.debug_pub = self.create_publisher(String, '/core/debug', 10)
self.feedback_pub = self.create_publisher(CoreFeedback, '/core/feedback', 10)
# Create a subscriber
self.control_sub = self.create_subscription(CoreControl, '/core/control', self.send_controls, qos_profile=control_qos)
self.control_sub = self.create_subscription(CoreControl, '/core/control', self.send_controls, 10)
# Create a publisher for telemetry
self.telemetry_pub_timer = self.create_timer(1.0, self.publish_feedback)