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Fixed Core Node still trying to use ports in anchor mode

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This commit is contained in:
Tristan McGinnis
2025-02-20 11:41:42 -06:00
parent 095b97000d
commit 8e757464d1
4 changed files with 20 additions and 17 deletions
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10
src/arm_pkg/arm_pkg/arm_node.py
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@@ -22,8 +22,8 @@ class SerialRelay(Node):
# Get launch mode parameter
self.declare_parameter('launch_mode', 'arm')
launch_mode = self.get_parameter('launch_mode').value
self.get_logger().info(f"arm launch_mode is: {launch_mode}")
self.launch_mode = self.get_parameter('launch_mode').value
self.get_logger().info(f"arm launch_mode is: {self.launch_mode}")
# Create publishers
self.debug_pub = self.create_publisher(String, '/arm/feedback/debug', 10)
@@ -33,13 +33,13 @@ class SerialRelay(Node):
self.man_sub = self.create_subscription(ArmManual, '/arm/control/manual', self.send_manual, 10)
# Topics used in anchor mode
if launch_mode == 'anchor':
if self.launch_mode == 'anchor':
self.anchor_sub = self.create_subscription(String, '/anchor/arm/feedback', self.anchor_feedback, 10)
self.anchor_pub = self.create_publisher(String, '/anchor/relay', 10)
# Search for ports IF in 'arm' (standalone) and not 'anchor' mode
if launch_mode == 'arm':
if self.launch_mode == 'arm':
# Loop through all serial devices on the computer to check for the MCU
self.port = None
ports = SerialRelay.list_serial_ports()
@@ -150,7 +150,7 @@ class SerialRelay(Node):
#print(f"[Arm Wrote] {cmd}", end="")
def anchor_feedback(self, msg):
self.get_logger.info(f"[Anchor] {msg.data}", end="")
self.get_logger.info(f"[Arm Anchor] {msg.data}", end="")
#self.send_cmd(msg.data)