feat: (arm) add use_old_topics parameter

src/arm_pkg/arm_pkg/arm_node.py

@@ -64,9 +64,16 @@ class ArmNode(Node):
 
         self.get_logger().info(f"arm launch_mode is: anchor")  # Hey I like the output
 
+        ##################################################
+        # Parameters
+
+        self.declare_parameter("use_old_topics", True)
+        self.use_old_topics = self.get_parameter("use_old_topics").get_parameter_value().bool_value
+
         ##################################################
         # Old topics
 
+        if self.use_old_topics:
             # Anchor topics
             self.anchor_sub = self.create_subscription(
                 String, "/anchor/arm/feedback", self.anchor_feedback, 10
@@ -212,6 +219,7 @@ class ArmNode(Node):
         self.anchor_tovic_pub_.publish(digit_cmd)
 
     def send_manual(self, msg: ArmManual):
+        """TODO: Old"""
         axis0 = msg.axis0
         axis1 = -1 * msg.axis1
         axis2 = msg.axis2
@@ -236,10 +244,12 @@ class ArmNode(Node):
         return
 
     def send_cmd(self, msg: str):
+        """TODO: Old"""
         output = String(data=msg)
         self.anchor_pub.publish(output)
 
     def anchor_feedback(self, msg: String):
+        """TODO: Old"""
         output = msg.data
         if output.startswith("can_relay_fromvic,arm,55"):
             self.updateAngleFeedback(output)
@@ -389,10 +399,12 @@ class ArmNode(Node):
                 )  # Wrist yaw
 
     def publish_feedback(self):
+        """TODO: Old"""
         self.socket_pub.publish(self.arm_feedback)
         self.digit_pub.publish(self.digit_feedback)
 
     def updateAngleFeedback(self, msg: str):
+        """TODO: Old"""
         # Angle feedbacks,
         # split the msg.data by commas
         parts = msg.split(",")
@@ -411,6 +423,7 @@ class ArmNode(Node):
             self.get_logger().info("Invalid angle feedback input format")
 
     def updateBusVoltage(self, msg: str):
+        """TODO: Old"""
         # Bus Voltage feedbacks
         parts = msg.split(",")
         if len(parts) >= 7:
@@ -425,6 +438,7 @@ class ArmNode(Node):
             self.get_logger().info("Invalid voltage feedback input format")
 
     def updateMotorFeedback(self, msg: str):
+        """TODO: Old"""
         parts = str(msg.strip()).split(",")
         motorId = round(float(parts[3]))
         temp = float(parts[4]) / 10.0