clean stuff up a bit to prep for CAN

-> python 3.13

.envrc

@@ -1 +1,2 @@
 use flake
+[[ -d install ]] && source install/setup.$(echo $0 | grep -oE '[^/]+$')

auto_start/auto_start_anchor.sh

@@ -15,7 +15,11 @@ echo "[INFO] Network interface is up!"
 echo "[INFO] Starting ROS node..."
 
 # Source ROS 2 Humble setup script
-source /opt/ros/humble/setup.bash
+if command -v nixos-rebuild; then
+    echo "[INFO] running on NixOS"
+else
+    source /opt/ros/humble/setup.bash
+fi
 
 # Source your workspace setup script
 source $SCRIPT_DIR/../install/setup.bash

auto_start/auto_start_headless_full.sh

@@ -15,7 +15,11 @@ echo "[INFO] Network interface is up!"
 echo "[INFO] Starting ROS node..."
 
 # Source ROS 2 Humble setup script
-source /opt/ros/humble/setup.bash
+if command -v nixos-rebuild; then
+    echo "[INFO] running on NixOS"
+else
+    source /opt/ros/humble/setup.bash
+fi
 
 # Source your workspace setup script
 source $SCRIPT_DIR/../install/setup.bash

auto_start/start_rosbag.sh

@@ -17,7 +17,11 @@ done
 echo "[INFO] Network interface is up!"
 
 
-source /opt/ros/humble/setup.bash
+if command -v nixos-rebuild; then
+    echo "[INFO] running on NixOS"
+else
+    source /opt/ros/humble/setup.bash
+fi
 source $ANCHOR_WS/install/setup.bash
 [[ -f $AUTONOMY_WS/install/setup.bash ]] && source $AUTONOMY_WS/install/setup.bash
 

flake.lock

@@ -24,27 +24,27 @@
         "nixpkgs": "nixpkgs"
       },
       "locked": {
-        "lastModified": 1761810010,
+        "lastModified": 1770108954,
-        "narHash": "sha256-o0wJKW603SiOO373BTgeZaF6nDxegMA/cRrzSC2Cscg=",
+        "narHash": "sha256-VBj6bd4LPPSfsZJPa/UPPA92dOs6tmQo0XZKqfz/3W4=",
         "owner": "lopsided98",
         "repo": "nix-ros-overlay",
-        "rev": "e277df39e3bc6b372a5138c0bcf10198857c55ab",
+        "rev": "3d05d46451b376e128a1553e78b8870c75d7753a",
         "type": "github"
       },
       "original": {
         "owner": "lopsided98",
-        "ref": "master",
+        "ref": "develop",
         "repo": "nix-ros-overlay",
         "type": "github"
       }
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1744849697,
+        "lastModified": 1759381078,
-        "narHash": "sha256-S9hqvanPSeRu6R4cw0OhvH1rJ+4/s9xIban9C4ocM/0=",
+        "narHash": "sha256-gTrEEp5gEspIcCOx9PD8kMaF1iEmfBcTbO0Jag2QhQs=",
-        "owner": "lopsided98",
+        "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "6318f538166fef9f5118d8d78b9b43a04bb049e4",
+        "rev": "7df7ff7d8e00218376575f0acdcc5d66741351ee",
         "type": "github"
       },
       "original": {

flake.nix

@@ -2,7 +2,7 @@
   description = "Development environment for ASTRA Anchor";
 
   inputs = {
-    nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/master";
+    nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/develop";
     nixpkgs.follows = "nix-ros-overlay/nixpkgs"; # IMPORTANT!!!
   };
 
@@ -25,9 +25,10 @@
           name = "ASTRA Anchor";
           packages = with pkgs; [
             colcon
-            (python312.withPackages (
+            (python313.withPackages (
               p: with p; [
                 pyserial
+		python-can
                 pygame
                 scipy
                 crccheck
@@ -56,10 +57,12 @@
                   control-msgs
                   control-toolbox
                   moveit-core
+                  moveit-planners
                   moveit-common
                   moveit-msgs
                   moveit-ros-planning
                   moveit-ros-planning-interface
+		  moveit-ros-visualization
                   moveit-configs-utils
                   moveit-ros-move-group
                   moveit-servo
@@ -68,9 +71,9 @@
                   pilz-industrial-motion-planner
                   pick-ik
                   ompl
-                  chomp-motion-planner
                   joy
-                  # ros2-controllers nixpkg does not build :(
+                  ros2-controllers
+		  chomp-motion-planner
                 ];
               }
             )

src/anchor_pkg/anchor_pkg/anchor_node.py

@@ -1,26 +1,30 @@
 import rclpy
 from rclpy.node import Node
-from std_srvs.srv import Empty
+from rclpy.executors import ExternalShutdownException
+from rcl_interfaces.msg import ParameterDescriptor, ParameterType
 
 import signal
-import time
 import atexit
 
-import serial
+from .connector import (
-import os
+    Connector,
+    MockConnector,
+    SerialConnector,
+    CANConnector,
+    NoValidDeviceException,
+    NoWorkingDeviceException,
+)
+from .convert import string_to_viccan
 import sys
 import threading
-import glob
 
 from std_msgs.msg import String, Header
 from astra_msgs.msg import VicCAN
 
-serial_pub = None
-thread = None
 
-
+class Anchor(Node):
-"""
+    """
-Publishers:
+    Publishers:
     * /anchor/from_vic/debug
         - Every string received from the MCU is published here for debugging
     * /anchor/from_vic/core
@@ -30,56 +34,66 @@ Publishers:
     * /anchor/from_vic/bio
         - VicCAN messages for Bio node
 
-Subscribers:
+    Subscribers:
     * /anchor/from_vic/mock_mcu
         - For testing without an actual MCU, publish strings here as if they came from an MCU
     * /anchor/to_vic/relay
         - Core, Arm, and Bio publish VicCAN messages to this topic to send to the MCU
-  * /anchor/to_vic/relay_string
+    """
-    - Publish raw strings to this topic to send directly to the MCU for debugging
-"""
 
+    connector: Connector
 
-class SerialRelay(Node):
     def __init__(self):
-        # Initalize node with name
+        super().__init__("anchor_node")
-        super().__init__("anchor_node")  # previously 'serial_publisher'
 
-        # Loop through all serial devices on the computer to check for the MCU
+        logger = self.get_logger()
-        self.port = None
+
-        if port_override := os.getenv("PORT_OVERRIDE"):
+        self.declare_parameter(
-            self.port = port_override
+            "connector",
-        ports = SerialRelay.list_serial_ports()
+            "auto",
-        for i in range(4):
+            ParameterDescriptor(
-            if self.port is not None:
+                name="connector",
-                break
+                description="Declares which MCU connector should be used. Defaults to 'auto'.",
-            for port in ports:
+                type=ParameterType.PARAMETER_STRING,
+                additional_constraints="Must be 'serial', 'can', 'mock', or 'auto'.",
+            ),
+        )
+
+        # Determine which connector to use. Options are Mock, Serial, and CAN
+        connector_select = (
+            self.get_parameter("connector").get_parameter_value().string_value
+        )
+
+        match connector_select:
+            case "serial":
+                logger.info("using serial connector")
+                self.connector = SerialConnector(self.get_logger())
+            case "can":
+                logger.info("using CAN connector")
+                self.connector = CANConnector(self.get_logger())
+            case "mock":
+                logger.info("using mock connector")
+                self.connector = MockConnector(self.get_logger())
+            case "auto":
+                logger.info("automatically determining connector")
                 try:
-                    # connect and send a ping command
+                    logger.info("trying CAN connector")
-                    ser = serial.Serial(port, 115200, timeout=1)
+                    self.connector = CANConnector(self.get_logger())
-                    # (f"Checking port {port}...")
+                except (NoValidDeviceException, NoWorkingDeviceException, TypeError):
-                    ser.write(b"ping\n")
+                    logger.info("CAN connector failed, trying serial connector")
-                    response = ser.read_until(bytes("\n", "utf8"))
+                    self.connector = SerialConnector(self.get_logger())
+            case _:
+                self.get_logger().fatal(
+                    f"invalid value for connector parameter: {connector_select}"
+                )
+                exit(1)
 
-                    # if pong is in response, then we are talking with the MCU
+        # Close devices on exit
-                    if b"pong" in response:
-                        self.port = port
-                        self.get_logger().info(f"Found MCU at {self.port}!")
-                        break
-                except:
-                    pass
-
-        if self.port is None:
-            self.get_logger().info("Unable to find MCU...")
-            time.sleep(1)
-            sys.exit(1)
-
-        self.ser = serial.Serial(self.port, 115200)
-        self.get_logger().info(f"Enabling Relay Mode")
-        self.ser.write(b"can_relay_mode,on\n")
         atexit.register(self.cleanup)
 
-        # New pub/sub with VicCAN
+        # ROS2 Topic Setup
+
+        # Publishers
         self.fromvic_debug_pub_ = self.create_publisher(
             String, "/anchor/from_vic/debug", 20
         )
@@ -93,189 +107,66 @@ class SerialRelay(Node):
             VicCAN, "/anchor/from_vic/bio", 20
         )
 
+        # Subscribers
+        self.tovic_sub_ = self.create_subscription(
+            VicCAN, "/anchor/to_vic/relay", self.connector.write, 20
+        )
         self.mock_mcu_sub_ = self.create_subscription(
             String, "/anchor/from_vic/mock_mcu", self.on_mock_fromvic, 20
         )
-        self.tovic_sub_ = self.create_subscription(
-            VicCAN, "/anchor/to_vic/relay", self.on_relay_tovic_viccan, 20
-        )
-        self.tovic_debug_sub_ = self.create_subscription(
-            String, "/anchor/to_vic/relay_string", self.on_relay_tovic_string, 20
-        )
 
-        # Create publishers
+    def cleanup(self):
-        self.arm_pub = self.create_publisher(String, "/anchor/arm/feedback", 10)
+        self.connector.cleanup()
-        self.core_pub = self.create_publisher(String, "/anchor/core/feedback", 10)
-        self.bio_pub = self.create_publisher(String, "/anchor/bio/feedback", 10)
-
-        self.debug_pub = self.create_publisher(String, "/anchor/debug", 10)
-
-        # Create a subscriber
-        self.relay_sub = self.create_subscription(
-            String, "/anchor/relay", self.on_relay_tovic_string, 10
-        )
-
-    def run(self):
-        # This thread makes all the update processes run in the background
-        global thread
-        thread = threading.Thread(target=rclpy.spin, args={self}, daemon=True)
-        thread.start()
-
-        try:
-            while rclpy.ok():
-                self.read_MCU()  # Check the MCU for updates
-        except KeyboardInterrupt:
-            sys.exit(0)
 
     def read_MCU(self):
         """Check the USB serial port for new data from the MCU, and publish string to appropriate topics"""
-        try:
+        output = self.connector.read()
-            output = str(self.ser.readline(), "utf8")
 
-            if output:
+        if not output:
-                self.relay_fromvic(output)
-                # All output over debug temporarily
-                # self.get_logger().info(f"[MCU] {output}")
-                msg = String()
-                msg.data = output
-                self.debug_pub.publish(msg)
-                if output.startswith("can_relay_fromvic,core"):
-                    self.core_pub.publish(msg)
-                elif output.startswith("can_relay_fromvic,arm") or output.startswith(
-                    "can_relay_fromvic,digit"
-                ):  # digit for voltage readings
-                    self.arm_pub.publish(msg)
-                if 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
-                # self.debug_pub.publish(msg)
             return
-        except serial.SerialException as e:
+
-            print(f"SerialException: {e}")
+        self.relay_fromvic(output)
-            print("Closing serial port.")
+
-            if self.ser.is_open:
+    def relay_fromvic(self, msg: VicCAN):
-                self.ser.close()
+        """Relay a string message from the MCU to the appropriate VicCAN topic"""
-            exit(1)
+        msg.header = Header(stamp=self.get_clock().now().to_msg(), frame_id="from_vic")
-        except TypeError as e:
+
-            print(f"TypeError: {e}")
+        if msg.mcu_name == "core":
-            print("Closing serial port.")
+            self.fromvic_core_pub_.publish(msg)
-            if self.ser.is_open:
+        elif msg.mcu_name == "arm" or msg.mcu_name == "digit":
-                self.ser.close()
+            self.fromvic_arm_pub_.publish(msg)
-            exit(1)
+        elif msg.mcu_name == "citadel" or msg.mcu_name == "digit":
-        except Exception as e:
+            self.fromvic_bio_pub_.publish(msg)
-            print(f"Exception: {e}")
-            # print("Closing serial port.")
-            # if self.ser.is_open:
-            #     self.ser.close()
-            # exit(1)
 
     def on_mock_fromvic(self, msg: String):
-        """For testing without an actual MCU, publish strings here as if they came from an MCU"""
+        viccan = string_to_viccan(
-        # self.get_logger().info(f"Got command from mock MCU: {msg}")
+            msg.data,
-        self.relay_fromvic(msg.data)
+            "mock",
-
+            self.get_logger(),
-    def on_relay_tovic_viccan(self, msg: VicCAN):
-        """Relay a VicCAN message to the MCU"""
-        output: str = f"can_relay_tovic,{msg.mcu_name},{msg.command_id}"
-        for num in msg.data:
-            output += f",{round(num, 7)}"  # limit to 7 decimal places
-        output += "\n"
-        # self.get_logger().info(f"VicCAN relay to MCU: {output}")
-        self.ser.write(bytes(output, "utf8"))
-
-    def relay_fromvic(self, msg: str):
-        """Relay a string message from the MCU to the appropriate VicCAN topic"""
-        self.fromvic_debug_pub_.publish(String(data=msg))
-        parts = msg.strip().split(",")
-        if len(parts) > 0 and parts[0] != "can_relay_fromvic":
-            self.get_logger().debug(f"Ignoring non-VicCAN message: '{msg.strip()}'")
-            return
-
-        # String validation
-        malformed: bool = False
-        malformed_reason: str = ""
-        if len(parts) < 3 or len(parts) > 7:
-            malformed = True
-            malformed_reason = (
-                f"invalid argument count (expected [3,7], got {len(parts)})"
         )
-        elif parts[1] not in ["core", "arm", "digit", "citadel", "broadcast"]:
+        if viccan:
-            malformed = True
+            self.relay_fromvic(viccan)
-            malformed_reason = f"invalid mcu_name '{parts[1]}'"
-        elif not (parts[2].isnumeric()) or int(parts[2]) < 0:
-            malformed = True
-            malformed_reason = f"command_id '{parts[2]}' is not a non-negative integer"
-        else:
-            for x in parts[3:]:
-                try:
-                    float(x)
-                except ValueError:
-                    malformed = True
-                    malformed_reason = f"data '{x}' is not a float"
-                    break
-
-        if malformed:
-            self.get_logger().warning(
-                f"Ignoring malformed from_vic message: '{msg.strip()}'; reason: {malformed_reason}"
-            )
-            return
-
-        # Have valid VicCAN message
-
-        output = VicCAN()
-        output.mcu_name = parts[1]
-        output.command_id = int(parts[2])
-        if len(parts) > 3:
-            output.data = [float(x) for x in parts[3:]]
-        output.header = Header(
-            stamp=self.get_clock().now().to_msg(), frame_id="from_vic"
-        )
-
-        # self.get_logger().info(f"Relaying from MCU: {output}")
-        if output.mcu_name == "core":
-            self.fromvic_core_pub_.publish(output)
-        elif output.mcu_name == "arm" or output.mcu_name == "digit":
-            self.fromvic_arm_pub_.publish(output)
-        elif output.mcu_name == "citadel" or output.mcu_name == "digit":
-            self.fromvic_bio_pub_.publish(output)
-
-    def on_relay_tovic_string(self, msg: String):
-        """Relay a raw string message to the MCU for debugging"""
-        message = msg.data
-        # self.get_logger().info(f"Sending command to MCU: {msg}")
-        self.ser.write(bytes(message, "utf8"))
-
-    @staticmethod
-    def list_serial_ports():
-        return glob.glob("/dev/ttyUSB*") + glob.glob("/dev/ttyACM*")
-
-    def cleanup(self):
-        print("Cleaning up before terminating...")
-        if self.ser.is_open:
-            self.ser.close()
-
-
-def myexcepthook(type, value, tb):
-    print("Uncaught exception:", type, value)
-    if serial_pub:
-        serial_pub.cleanup()
 
 
 def main(args=None):
+    try:
         rclpy.init(args=args)
-    sys.excepthook = myexcepthook
+        anchor_node = Anchor()
 
-    global serial_pub
+        thread = threading.Thread(target=rclpy.spin, args=(anchor_node,), daemon=True)
+        thread.start()
 
-    serial_pub = SerialRelay()
+        rate = anchor_node.create_rate(100)  # 100 Hz -- arbitrary rate
-    serial_pub.run()
+        while rclpy.ok():
+            anchor_node.read_MCU()  # Check the MCU for updates
+            rate.sleep()
+    except (KeyboardInterrupt, ExternalShutdownException):
+        print("Caught shutdown signal, shutting down...")
+    finally:
+        rclpy.try_shutdown()
 
 
 if __name__ == "__main__":
-    # signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
     signal.signal(
         signal.SIGTERM, lambda signum, frame: sys.exit(0)
     )  # Catch termination signals and exit cleanly

src/anchor_pkg/anchor_pkg/connector.py

@@ -0,0 +1,189 @@
+from abc import ABC, abstractmethod
+from astra_msgs.msg import VicCAN
+from rclpy.impl.rcutils_logger import RcutilsLogger
+from .convert import string_to_viccan
+
+# CAN
+import can
+import can.interfaces.socketcan
+
+# Serial
+import serial
+import serial.tools.list_ports
+
+KNOWN_USBS = [
+    (0x2E8A, 0x00C0),  # Raspberry Pi Pico
+    (0x1A86, 0x55D4),  # Adafruit Feather ESP32 V2
+    (0x10C4, 0xEA60),  # DOIT ESP32 Devkit V1
+    (0x1A86, 0x55D3),  # ESP32 S3 Development Board
+]
+BAUD_RATE = 115200
+
+
+class NoValidDeviceException(Exception):
+    pass
+
+
+class NoWorkingDeviceException(Exception):
+    pass
+
+
+class MultipleValidDevicesException(Exception):
+    pass
+
+
+class DeviceClosedException(Exception):
+    pass
+
+
+class Connector(ABC):
+    logger: RcutilsLogger
+
+    def __init__(self, logger: RcutilsLogger):
+        self.logger = logger
+
+    @abstractmethod
+    def read(self) -> VicCAN | None:
+        pass
+
+    @abstractmethod
+    def write(self, msg: VicCAN):
+        pass
+
+    def cleanup(self):
+        pass
+
+
+class SerialConnector(Connector):
+    port: str
+    mcu_name: str
+    serial_interface: serial.Serial
+    override: bool
+
+    def __init__(self, logger: RcutilsLogger):
+        super().__init__(logger)
+
+        ports = self._find_ports()
+
+        if len(ports) <= 0:
+            raise NoValidDeviceException("no valid serial device found")
+        if (l := len(ports)) > 1:
+            raise MultipleValidDevicesException(
+                f"too many ({l}) valid serial devices found"
+            )
+
+        # check each of our ports to make sure one of them is responding
+        port = ports[0]
+        mcu_name = self._get_name(port)
+        if not mcu_name:
+            raise NoWorkingDeviceException(
+                f"found {port}, but it did not respond with its name"
+            )
+
+        self.port = port
+        self.mcu_name = mcu_name
+
+        # if we fail at this point, it should crash because we've already tested the port
+        self.serial_interface = serial.Serial(self.port, BAUD_RATE, timeout=1)
+
+    def _find_ports(self) -> list[str]:
+        """
+        Finds all valid ports but does not test them
+
+        returns: all valid ports
+        """
+        comports = serial.tools.list_ports.comports()
+        valid_ports = list(
+            map(  # get just device strings
+                lambda p: p.device,
+                filter(  # make sure we have a known device
+                    lambda p: (p.vid, p.pid) in KNOWN_USBS and p.device is not None,
+                    comports,
+                ),
+            )
+        )
+        self.logger.info(f"found valid MCU ports: [ {', '.join(valid_ports)} ]")
+        return valid_ports
+
+    def _get_name(self, port: str) -> str | None:
+        """
+        Get the name of the MCU (if it works)
+
+        returns: str name of the MCU, None if it doesn't work
+        """
+        # attempt to open the serial port
+        serial_interface: serial.Serial
+        try:
+            self.logger.info(f"asking {port} for its name")
+            serial_interface = serial.Serial(port, BAUD_RATE, timeout=1)
+
+            serial_interface.write(b"can_relay_mode,on\n")
+
+            for i in range(4):
+                self.logger.debug(f"attempt {i + 1} of 4 asking {port} for its name")
+                response = serial_interface.read_until(bytes("\n", "utf8"))
+                try:
+                    if b"can_relay_ready" in response:
+                        args: list[str] = response.decode("utf8").strip().split(",")
+                        if len(args) == 2:
+                            self.logger.info(f"we are talking to {args[1]}")
+                            return args[1]
+                        break
+                except UnicodeDecodeError as e:
+                    self.logger.info(
+                        f"ignoring UnicodeDecodeError when asking for MCU name: {e}"
+                    )
+
+            if serial_interface.is_open:
+                serial_interface.close()
+        except serial.SerialException as e:
+            self.logger.error(f"SerialException when asking for MCU name: {e}")
+
+        return None
+
+    def read(self) -> VicCAN | None:
+        try:
+            raw = str(self.serial_interface.readline(), "utf8")
+
+            if not raw:
+                return None
+
+            return string_to_viccan(raw, self.mcu_name, self.logger)
+        except serial.SerialException as e:
+            self.logger.error(f"SerialException: {e}")
+            raise DeviceClosedException(f"serial port {self.port} closed unexpectedly")
+        except TypeError as e:
+            self.logger.error(f"TypeError: {e}")
+            raise DeviceClosedException(f"serial port {self.port} closed unexpectedly")
+        except Exception:
+            pass  # pretty much no other error matters
+
+    def write(self, msg: VicCAN):
+        # go from [ w, x, y, z ] -> "w,x,y,z" & round to 7 digits max
+        data = ",".join([str(round(x, 7)) for x in msg.data])
+        output = f"can_relay_tovic,{msg.mcu_name},{msg.command_id},{data}\n"
+        self.serial_interface.write(bytes(output, "utf8"))
+
+    def cleanup(self):
+        self.logger.info(f"closing serial port if open {self.port}")
+        try:
+            if self.serial_interface.is_open:
+                self.serial_interface.close()
+        except Exception as e:
+            self.logger.error(e)
+
+
+class CANConnector(Connector):
+    def __init__(self, logger: RcutilsLogger):
+        super().__init__(logger)
+
+
+class MockConnector(Connector):
+    def __init__(self, logger: RcutilsLogger):
+        super().__init__(logger)
+
+    def read(self) -> VicCAN | None:
+        return None
+
+    def write(self, msg: VicCAN):
+        print(msg)

src/anchor_pkg/anchor_pkg/convert.py

@@ -0,0 +1,42 @@
+from astra_msgs.msg import VicCAN
+from rclpy.impl.rcutils_logger import RcutilsLogger
+
+def string_to_viccan(msg: str, mcu_name: str, logger: RcutilsLogger):
+    """
+    Converts the serial string VicCAN format to a ROS2 VicCAN message.
+    Does not fill out the Header of the message.
+    On a failure, it will log at a debug level why it failed.
+
+    Parameters:
+      * msg: str
+        - The message in serial VicCAN format
+      * mcu_name: str
+        - The name of the MCU (e.g. core, citadel, arm)
+      * logger: RcutilsLogger
+        - A logger retrieved from node.get_logger()
+
+    Returns:
+      * VicCAN | None
+        - The VicCAN message on a success or None on a failure
+    """
+
+    parts: list[str] = msg.split(",")
+
+    # don't need an extra check because len of .split output is always >= 1
+    if parts[0] != "can_relay_fromvic":
+        logger.debug(f"got non-CAN data from {mcu_name}: {msg}")
+        return None
+    elif len(parts) < 3:
+        logger.debug(
+            f"got garbage (not enough parts) CAN data from {mcu_name}: {msg}"
+        )
+        return None
+    elif len(parts) > 7:
+        logger.debug(f"got garbage (too many parts) CAN data from {mcu_name}: {msg}")
+        return None
+
+    return VicCAN(
+        mcu_name=parts[1],
+        command_id=int(parts[2]),
+        data=[float(x) for x in parts[3:]],
+    )

src/anchor_pkg/package.xml

@@ -3,13 +3,14 @@
 <package format="3">
   <name>anchor_pkg</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
+  <description>Anchor -- ROS and CAN relay node</description>
-  <maintainer email="tristanmcginnis26@gmail.com">tristan</maintainer>
+  <maintainer email="rjm0037@uah.edu">Riley</maintainer>
   <license>AGPL-3.0-only</license>
 
   <depend>rclpy</depend>
   <depend>common_interfaces</depend>
   <depend>python3-serial</depend>
+  <depend>python3-can</depend>
 
   <build_depend>black</build_depend>
 

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"
 

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

src/headless_pkg/src/headless_node.py

@@ -1,5 +1,6 @@
 import rclpy
 from rclpy.node import Node
+from rclpy.executors import ExternalShutdownException
 from rclpy import qos
 from rclpy.duration import Duration
 
@@ -11,6 +12,8 @@ import os
 import sys
 import threading
 import glob
+import pwd
+import grp
 from math import copysign
 
 from std_msgs.msg import String
@@ -32,14 +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"
@@ -71,10 +74,37 @@ class Headless(Node):
             print("No gamepad found. Waiting...")
 
         # Initialize the gamepad
-        self.gamepad = pygame.joystick.Joystick(0)
+        id = 0
+        while True:
+            self.num_gamepads = pygame.joystick.get_count()
+            if id >= self.num_gamepads:
+                self.get_logger().fatal("Ran out of controllers to try")
+                sys.exit(1)
+
+            try:
+                self.gamepad = pygame.joystick.Joystick(id)
                 self.gamepad.init()
+            except Exception as e:
+                self.get_logger().error("Error when initializing gamepad")
+                self.get_logger().error(e)
+                id += 1
+                continue
             print(f"Gamepad Found: {self.gamepad.get_name()}")
 
+            if self.gamepad.get_numhats() == 0 or self.gamepad.get_numaxes() < 5:
+                self.get_logger().error("Controller not correctly initialized.")
+                if not is_user_in_group("input"):
+                    self.get_logger().warning(
+                        "If using NixOS, you may need to add yourself to the 'input' group."
+                    )
+                if is_user_in_group("plugdev"):
+                    self.get_logger().warning(
+                        "If using NixOS, you may need to remove yourself from the 'plugdev' group."
+                    )
+            else:
+                break
+            id += 1
+
         self.create_timer(0.15, self.send_controls)
 
         self.core_publisher = self.create_publisher(CoreControl, "/core/control", 2)
@@ -115,7 +145,7 @@ class Headless(Node):
                 sys.exit(0)
 
         # Check if controller is still connected
-        if pygame.joystick.get_count() == 0:
+        if pygame.joystick.get_count() != self.num_gamepads:
             print("Gamepad disconnected. Exiting...")
             # Send one last zero control message
             self.core_publisher.publish(CORE_STOP_MSG)
@@ -296,10 +326,33 @@ def deadzone(value: float, threshold=0.05) -> float:
     return value
 
 
+def is_user_in_group(group_name: str) -> bool:
+    # Copied from https://zetcode.com/python/os-getgrouplist/
+    try:
+        username = os.getlogin()
+
+        # Get group ID from name
+        group_info = grp.getgrnam(group_name)
+        target_gid = group_info.gr_gid
+
+        # Get user's groups
+        user_info = pwd.getpwnam(username)
+        user_groups = os.getgrouplist(username, user_info.pw_gid)
+
+        return target_gid in user_groups
+    except KeyError:
+        return False
+
+
 def main(args=None):
+    try:
         rclpy.init(args=args)
+
         node = Headless()
         rclpy.spin(node)
+    except (KeyboardInterrupt, ExternalShutdownException):
+        print("Caught shutdown signal. Exiting...")
+    finally:
         rclpy.shutdown()