aaron/rover-ros2
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anchor now publishes feedback for respective module feedback branches

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This commit is contained in:
Tristan McGinnis
2025-05-10 12:27:27 -05:00
parent 81558b9f48
commit f1dfa46174
1 changed files with 9 additions and 2 deletions
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11
src/anchor_pkg/anchor_pkg/anchor_node.py
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@@ -86,7 +86,15 @@ class SerialRelay(Node):
self.get_logger().info(f"[MCU] {output}")
msg = String()
msg.data = output
self.debug_pub.publish(msg)
if output.startswith("can_relay_fromvic,core"):
self.core_pub.publish(msg)
elif output.startswith("can_relay_fromvic,arm"):
self.arm_pub.publish(msg)
elif output.startswith("can_relay_fromvic,bio"):
self.bio_pub.publish(msg)
# msg = String()
# msg.data = output
# self.debug_pub.publish(msg)
return
except serial.SerialException as e:
print(f"SerialException: {e}")
@@ -140,4 +148,3 @@ if __name__ == '__main__':
signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0)) # Catch Ctrl+Z and exit cleanly
signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(0)) # Catch termination signals and exit cleanly
main()