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add anchor relay to feedback topics for bio,arm,core

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This commit is contained in:
Tristan McGinnis
2025-05-03 16:58:10 -05:00
parent 5a120da1df
commit d38a84abca
3 changed files with 156 additions and 4 deletions
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15
src/anchor_pkg/anchor_pkg/anchor_node.py
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@@ -84,6 +84,21 @@ class SerialRelay(Node):
if output:
# All output over debug temporarily
self.get_logger().info(f"[MCU] {output}")
if output.startswith("can_relay_fromvic,arm"):
# Publish the message to the arm topic
msg = String()
msg.data = output
self.arm_pub.publish(msg)
elif output.startswith("can_relay_fromvic,core"):
# Publish the message to the core topic
msg = String()
msg.data = output
self.core_pub.publish(msg)
elif output.startswith("can_relay_fromvic,bio"):
# Publish the message to the bio topic
msg = String()
msg.data = output
self.bio_pub.publish(msg)
msg = String()
msg.data = output
self.debug_pub.publish(msg)