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feat: all the features

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* Move rover-ros2/rover_launch.py to src/anchor_pkg/launch/, renamed to rover.launch.py
* Anchor now waits to initialize topics until after it has found a microcontroller.
* Headless now waits for anchor to start before it starts itself
* Add default cases to motor feedback for motorId
* Added black to the flake.nix and package.xml
This commit is contained in:
David
2025-10-23 02:22:31 -05:00
parent 44aa4b0848
commit fe1ae6120f
8 changed files with 43 additions and 25 deletions
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6
src/core_pkg/core_pkg/core_node.py
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@@ -426,6 +426,9 @@ class SerialRelay(Node):
motor = self.feedback_new_state.fr_motor
case 4:
motor = self.feedback_new_state.br_motor
case _:
self.get_logger().warning(f"Ignoring REV motor feedback 53 with invalid motorId {motorId}")
return
if motor:
motor.temperature = temp
@@ -471,6 +474,9 @@ class SerialRelay(Node):
case 4:
motor = self.feedback_new_state.br_motor
joint_state_msg.name = ["br_motor_joint"]
case _:
self.get_logger().warning(f"Ignoring REV motor feedback 58 with invalid motorId {motorId}")
return
joint_state_msg.header.stamp = msg.header.stamp
self.joint_state_pub_.publish(joint_state_msg)