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feat: update for new faerie arm

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David
2025-05-23 05:46:19 +00:00
parent 4a9a0bfb0d
commit ff68d53e24
3 changed files with 20 additions and 19 deletions
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16
src/anchor_pkg/anchor_pkg/anchor_node.py
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@@ -90,9 +90,9 @@ class SerialRelay(Node):
msg.data = output
if output.startswith("can_relay_fromvic,core"):
self.core_pub.publish(msg)
elif output.startswith("can_relay_fromvic,arm"):
elif output.startswith("can_relay_fromvic,arm") or output.startswith("can_relay_fromvic,digit"): # digit for voltage readings
self.arm_pub.publish(msg)
elif output.startswith("can_relay_fromvic,bio"):
elif output.startswith("can_relay_fromvic,citadel") or output.startswith("can_relay_fromvic,digit"): # digit for SHT sensor
self.bio_pub.publish(msg)
# msg = String()
# msg.data = output
@@ -135,16 +135,16 @@ def myexcepthook(type, value, tb):
print("Uncaught exception:", type, value)
if serial_pub:
serial_pub.cleanup()
def main(args=None):
rclpy.init(args=args)
sys.excepthook = myexcepthook
rclpy.init(args=args)
sys.excepthook = myexcepthook
global serial_pub
global serial_pub
serial_pub = SerialRelay()
serial_pub.run()
serial_pub = SerialRelay()
serial_pub.run()
if __name__ == '__main__':
signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0)) # Catch Ctrl+Z and exit cleanly