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temp: print statements

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Tristan McGinnis
2025-04-12 14:58:57 -05:00
committed by David
parent 99916b317f
commit b6348e4c00
1 changed files with 7 additions and 0 deletions
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7
src/arm_pkg/arm_pkg/arm_node.py
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@@ -68,6 +68,9 @@ class SerialRelay(Node):
# Initialize node # Initialize node
super().__init__("arm_node") super().__init__("arm_node")
#output to console
self.get_logger().info("Starting arm node...")
# Get launch mode parameter # Get launch mode parameter
self.declare_parameter('launch_mode', 'arm') self.declare_parameter('launch_mode', 'arm')
self.launch_mode = self.get_parameter('launch_mode').value self.launch_mode = self.get_parameter('launch_mode').value
@@ -88,6 +91,10 @@ class SerialRelay(Node):
self.anchor_sub = self.create_subscription(String, '/anchor/arm/feedback', self.anchor_feedback, 10) self.anchor_sub = self.create_subscription(String, '/anchor/arm/feedback', self.anchor_feedback, 10)
self.anchor_pub = self.create_publisher(String, '/anchor/relay', 10) self.anchor_pub = self.create_publisher(String, '/anchor/relay', 10)
# output to console
self.get_logger().info("Creating arm object...")
self.arm_feedback = SocketFeedback() self.arm_feedback = SocketFeedback()
self.digit_feedback = DigitFeedback() self.digit_feedback = DigitFeedback()
self.arm = astra_arm.Arm('arm11.urdf') self.arm = astra_arm.Arm('arm11.urdf')