Merge pull request #30 from SHC-ASTRA/update-python

-> python 3.13
2026-02-11 09:20:40 +00:00 · 2026-02-09 21:49:08 -05:00 · 2026-02-08 17:23:53 -06:00 · 2026-02-07 18:20:04 -06:00 · 2026-02-04 02:34:16 -06:00 · 2026-01-31 18:32:39 -06:00
5 changed files with 18 additions and 18 deletions
--- a/flake.nix
+++ b/flake.nix
@@ -25,7 +25,7 @@
          name = "ASTRA Anchor";
          packages = with pkgs; [
            colcon
-            (python312.withPackages (
+            (python313.withPackages (
              p: with p; [
                pyserial
                pygame
--- a/src/arm_pkg/arm_pkg/arm_node.py
+++ b/src/arm_pkg/arm_pkg/arm_node.py
@@ -49,7 +49,7 @@ class SerialRelay(Node):
        # Create subscribers
        self.man_sub = self.create_subscription(
-            ArmManual, "/arm/control/manual", self.send_manual, 10
+            ArmManual, "/arm/control/manual", self.send_manual, 2
        )
        # New messages
@@ -190,7 +190,7 @@ class SerialRelay(Node):
        command += f"can_relay_tovic,digit,39,{msg.effector_yaw},{msg.effector_roll}\n"
-        # command += f"can_relay_tovic,digit,26,{msg.gripper}\n"  # no hardware rn
+        command += f"can_relay_tovic,digit,26,{msg.gripper}\n"  # no hardware rn
        command += f"can_relay_tovic,digit,28,{msg.laser}\n"
--- a/src/astra_msgs
+++ b/src/astra_msgs
--- a/src/core_pkg/core_pkg/core_node.py
+++ b/src/core_pkg/core_pkg/core_node.py
@@ -31,14 +31,14 @@ CORE_WHEEL_RADIUS = 0.171  # meters
 CORE_GEAR_RATIO = 100.0  # Clucky: 100:1, Testbed: 64:1
 control_qos = qos.QoSProfile(
-    history=qos.QoSHistoryPolicy.KEEP_LAST,
+    # history=qos.QoSHistoryPolicy.KEEP_LAST,
    depth=2,
-    reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
+    # reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
-    durability=qos.QoSDurabilityPolicy.VOLATILE,
+    # durability=qos.QoSDurabilityPolicy.VOLATILE,
-    deadline=Duration(seconds=1),
+    # deadline=Duration(seconds=1),
-    lifespan=Duration(nanoseconds=500_000_000),  # 500ms
+    # lifespan=Duration(nanoseconds=500_000_000),  # 500ms
-    liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
+    # liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
-    liveliness_lease_duration=Duration(seconds=5),
+    # liveliness_lease_duration=Duration(seconds=5),
 )
 # Used to verify the length of an incoming VicCAN feedback message
--- a/src/headless_pkg/src/headless_node.py
+++ b/src/headless_pkg/src/headless_node.py
@@ -35,14 +35,14 @@ ARM_STOP_MSG = ArmManual()  # "
 BIO_STOP_MSG = BioControl()  # "
 control_qos = qos.QoSProfile(
-    history=qos.QoSHistoryPolicy.KEEP_LAST,
+    # history=qos.QoSHistoryPolicy.KEEP_LAST,
    depth=2,
-    reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
+    # reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
-    durability=qos.QoSDurabilityPolicy.VOLATILE,
+    # durability=qos.QoSDurabilityPolicy.VOLATILE,
-    deadline=Duration(seconds=1),
+    # deadline=Duration(seconds=1),
-    lifespan=Duration(nanoseconds=500_000_000),  # 500ms
+    # lifespan=Duration(nanoseconds=500_000_000),  # 500ms
-    liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
+    # liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
-    liveliness_lease_duration=Duration(seconds=5),
+    # liveliness_lease_duration=Duration(seconds=5),
 )
 CORE_MODE = "twist"  # "twist" or "duty"
Author	SHA1	Message	Date
Riley M.	3f68052144	Merge pull request #30 from SHC-ASTRA/update-python -> python 3.13	2026-02-09 21:49:08 -05:00
ryleu	c72f72dc32	-> python 3.13	2026-02-08 17:23:53 -06:00
Riley M.	61f5f1fc3e	Merge pull request #29 from SHC-ASTRA/qos-disable Qos disable	2026-02-07 18:20:04 -06:00
David Sharpe	65aab7f179	Fix nix cache (#27 , fix-cache) Fix cache	2026-02-04 02:34:16 -06:00
David	d9355f16e9	fix: EF gripper works again ._.	2026-01-31 18:32:39 -06:00
David	9fc120b09e	fix: make QoS compatible with basestation-game	2026-01-31 17:21:52 -06:00