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fix the parameter

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This commit is contained in:
ryleu
2026-01-22 01:48:09 -05:00
parent 5e2bbe23a3
commit f558389863
1 changed files with 11 additions and 4 deletions
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15
src/anchor_pkg/anchor_pkg/anchor_node.py
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@@ -7,6 +7,7 @@ from typing import cast
import rclpy import rclpy
import serial import serial
import serial.tools.list_ports import serial.tools.list_ports
from rcl_interfaces.msg import ParameterDescriptor, ParameterType
from rclpy.executors import ExternalShutdownException from rclpy.executors import ExternalShutdownException
from rclpy.node import Node from rclpy.node import Node
from std_msgs.msg import Header, String from std_msgs.msg import Header, String
@@ -48,10 +49,16 @@ class Anchor(Node):
# Initalize node with name # Initalize node with name
super().__init__("anchor_node") super().__init__("anchor_node")
self.declare_parameter("serial_port", None) self.declare_parameter(
"port_override",
"",
ParameterDescriptor(
name="port_override", type=ParameterType.PARAMETER_STRING
),
)
# Serial port override # Serial port override
if port_override := self.get_parameter("serial_port").value: if port_override := self.get_parameter("port_override").value:
self.serial_port = cast(str, port_override) # Cast to make the linter happy self.serial_port = cast(str, port_override) # Cast to make the linter happy
################################################## ##################################################
@@ -70,12 +77,12 @@ class Anchor(Node):
# Guards # Guards
if len(recog_ports) > 1: # If we found too many if len(recog_ports) > 1: # If we found too many
self.get_logger().error( self.get_logger().fatal(
f"Found multiple recognized MCUs: {[p.device for p in recog_ports].__str__()}" f"Found multiple recognized MCUs: {[p.device for p in recog_ports].__str__()}"
) )
exit(1) exit(1)
if len(recog_ports) == 0: if len(recog_ports) == 0:
self.get_logger().error( self.get_logger().fatal(
f"Found no recognized MCUs: {[p.device for p in recog_ports].__str__()}" f"Found no recognized MCUs: {[p.device for p in recog_ports].__str__()}"
) )
exit(1) exit(1)