feat: refactor Core topics and add VicCAN (#17, topic-refactor)

Refactor Core, Anchor, and Headless with new message types
Add Core URDF and extremely basic Gazebo sim files
Bump ros2_interfaces_pkg to v1.1

LICENSE

@@ -0,0 +1,661 @@
+                    GNU AFFERO GENERAL PUBLIC LICENSE
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+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+  17. Interpretation of Sections 15 and 16.
+
+  If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+
+    This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU Affero General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU Affero General Public License for more details.
+
+    You should have received a copy of the GNU Affero General Public License
+    along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+  If your software can interact with users remotely through a computer
+network, you should also make sure that it provides a way for users to
+get its source.  For example, if your program is a web application, its
+interface could display a "Source" link that leads users to an archive
+of the code.  There are many ways you could offer source, and different
+solutions will be better for different programs; see section 13 for the
+specific requirements.
+
+  You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU AGPL, see
+<https://www.gnu.org/licenses/>.

README.md

@@ -1,5 +1,7 @@
 # rover-ros2
 
+[![License: AGPL v3](https://img.shields.io/badge/License-AGPL_v3-blue.svg)](https://www.gnu.org/licenses/agpl-3.0)
+
 Submodule which includes all ros2 packages for the rover. These are centrally located for modular rover operation.
 
 You will use this package to launch any module-side ROS2 nodes.

auto_start/auto_start_anchor.sh

@@ -0,0 +1,24 @@
+#!/bin/bash
+
+# Wait for a network interface to be up (not necessarily online)
+while ! ip link show | grep -q "state UP"; do
+    echo "[INFO] Waiting for active network interface..."
+    sleep 1
+done
+
+echo "[INFO] Network interface is up!"
+
+# Your actual ROS node start command goes here
+echo "[INFO] Starting ROS node..."
+
+# Source ROS 2 Humble setup script
+source /opt/ros/humble/setup.bash
+
+# Source your workspace setup script
+source /home/clucky/rover-ros2/install/setup.bash
+
+# CD to directory
+cd /home/clucky/rover-ros2/
+
+# Launch the ROS 2 node with the desired mode
+ros2 launch rover_launch.py mode:=anchor

auto_start/auto_start_core_headless.sh

@@ -0,0 +1,24 @@
+#!/bin/bash
+
+# Wait for a network interface to be up (not necessarily online)
+while ! ip link show | grep -q "state UP"; do
+    echo "[INFO] Waiting for active network interface..."
+    sleep 1
+done
+
+echo "[INFO] Network interface is up!"
+
+# Your actual ROS node start command goes here
+echo "[INFO] Starting ROS node..."
+
+# Source ROS 2 Humble setup script
+source /opt/ros/humble/setup.bash
+
+# Source your workspace setup script
+source /home/clucky/rover-ros2/install/setup.bash
+
+# CD to directory
+cd /home/clucky/rover-ros2/
+
+# Launch the ROS 2 node
+ros2 run core_pkg headless

auto_start/auto_start_headless_full.sh

@@ -0,0 +1,25 @@
+#!/bin/bash
+
+# Wait for a network interface to be up (not necessarily online)
+while ! ip link show | grep -q "state UP"; do
+    echo "[INFO] Waiting for active network interface..."
+    sleep 1
+done
+
+echo "[INFO] Network interface is up!"
+
+# Your actual ROS node start command goes here
+echo "[INFO] Starting ROS node..."
+
+# Source ROS 2 Humble setup script
+source /opt/ros/humble/setup.bash
+
+# Source your workspace setup script
+source /home/clucky/rover-ros2/install/setup.bash
+
+# CD to directory
+cd /home/clucky/rover-ros2/
+
+# Launch the ROS 2 node
+ros2 run headless_pkg headless_full
+

auto_start/start_rosbag.sh

@@ -0,0 +1,22 @@
+#!/bin/bash
+
+ANCHOR_WS="/home/clucky/rover-ros2"
+AUTONOMY_WS="/home/clucky/rover-Autonomy"
+BAG_LOCATION="/home/clucky/bags/autostart"
+
+# Wait for a network interface to be up (not necessarily online)
+while ! ip link show | grep -q "state UP"; do
+    echo "[INFO] Waiting for active network interface..."
+    sleep 1
+done
+
+echo "[INFO] Network interface is up!"
+
+
+source /opt/ros/humble/setup.bash
+source $ANCHOR_WS/install/setup.bash
+[ -f $AUTONOMY_WS/install/setup.bash ] && source $AUTONOMY_WS/install/setup.bash
+
+cd $BAG_LOCATION
+
+ros2 bag record -a

flake.lock

@@ -0,0 +1,84 @@
+{
+  "nodes": {
+    "flake-utils": {
+      "inputs": {
+        "systems": "systems"
+      },
+      "locked": {
+        "lastModified": 1731533236,
+        "narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=",
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "rev": "11707dc2f618dd54ca8739b309ec4fc024de578b",
+        "type": "github"
+      },
+      "original": {
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "type": "github"
+      }
+    },
+    "nix-ros-overlay": {
+      "inputs": {
+        "flake-utils": "flake-utils",
+        "nixpkgs": "nixpkgs"
+      },
+      "locked": {
+        "lastModified": 1758094726,
+        "narHash": "sha256-agLnClczRtYY+kQFh5dv4wGNhtFNKK7KFOmypDhsWCs=",
+        "owner": "lopsided98",
+        "repo": "nix-ros-overlay",
+        "rev": "9d0557032aadb65df065b1972a632572b57234b5",
+        "type": "github"
+      },
+      "original": {
+        "owner": "lopsided98",
+        "ref": "master",
+        "repo": "nix-ros-overlay",
+        "type": "github"
+      }
+    },
+    "nixpkgs": {
+      "locked": {
+        "lastModified": 1744849697,
+        "narHash": "sha256-S9hqvanPSeRu6R4cw0OhvH1rJ+4/s9xIban9C4ocM/0=",
+        "owner": "lopsided98",
+        "repo": "nixpkgs",
+        "rev": "6318f538166fef9f5118d8d78b9b43a04bb049e4",
+        "type": "github"
+      },
+      "original": {
+        "owner": "lopsided98",
+        "ref": "nix-ros",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
+    "root": {
+      "inputs": {
+        "nix-ros-overlay": "nix-ros-overlay",
+        "nixpkgs": [
+          "nix-ros-overlay",
+          "nixpkgs"
+        ]
+      }
+    },
+    "systems": {
+      "locked": {
+        "lastModified": 1681028828,
+        "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=",
+        "owner": "nix-systems",
+        "repo": "default",
+        "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e",
+        "type": "github"
+      },
+      "original": {
+        "owner": "nix-systems",
+        "repo": "default",
+        "type": "github"
+      }
+    }
+  },
+  "root": "root",
+  "version": 7
+}

flake.nix

@@ -0,0 +1,32 @@
+{
+  inputs = {
+    nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/master";
+    nixpkgs.follows = "nix-ros-overlay/nixpkgs";  # IMPORTANT!!!
+  };
+  outputs = { self, nix-ros-overlay, nixpkgs }:
+    nix-ros-overlay.inputs.flake-utils.lib.eachDefaultSystem (system:
+      let
+        pkgs = import nixpkgs {
+          inherit system;
+          overlays = [ nix-ros-overlay.overlays.default ];
+        };
+      in {
+        devShells.default = pkgs.mkShell {
+          name = "ASTRA Anchor";
+          packages = [
+            pkgs.colcon
+            pkgs.python312Packages.pyserial
+            pkgs.python312Packages.pygame
+            (with pkgs.rosPackages.humble; buildEnv {
+              paths = [
+                ros-core ros2cli ros2run ros2bag ament-cmake-core python-cmake-module
+              ];
+            })
+          ];
+        };
+      });
+  nixConfig = {
+    extra-substituters = [ "https://ros.cachix.org" ];
+    extra-trusted-public-keys = [ "ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo=" ];
+  };
+}

src/anchor_pkg/anchor_pkg/anchor_node.py

@@ -7,22 +7,52 @@ import time
 import atexit
 
 import serial
+import os
 import sys
 import threading
 import glob
 
-from std_msgs.msg import String
-from ros2_interfaces_pkg.msg import CoreFeedback
-from ros2_interfaces_pkg.msg import CoreControl
+from std_msgs.msg import String, Header
+from ros2_interfaces_pkg.msg import VicCAN
 
 serial_pub = None
 thread = None
 
+
+"""
+Publishers:
+  * /anchor/from_vic/debug
+    - Every string received from the MCU is published here for debugging
+  * /anchor/from_vic/core
+    - VicCAN messages for Core node
+  * /anchor/from_vic/arm
+    - VicCAN messages for Arm node
+  * /anchor/from_vic/bio
+    - VicCAN messages for Bio node
+
+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
+"""
 class SerialRelay(Node):
     def __init__(self):
         # Initalize node with name
         super().__init__("anchor_node")#previously 'serial_publisher'
 
+        # New pub/sub with VicCAN
+        self.fromvic_debug_pub_ = self.create_publisher(String, '/anchor/from_vic/debug', 20)
+        self.fromvic_core_pub_ = self.create_publisher(VicCAN, '/anchor/from_vic/core', 20)
+        self.fromvic_arm_pub_ = self.create_publisher(VicCAN, '/anchor/from_vic/arm', 20)
+        self.fromvic_bio_pub_ = self.create_publisher(VicCAN, '/anchor/from_vic/bio', 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 
         self.arm_pub = self.create_publisher(String, '/anchor/arm/feedback', 10)
@@ -30,40 +60,41 @@ class SerialRelay(Node):
         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.send_cmd, 10)
+        self.relay_sub = self.create_subscription(String, '/anchor/relay', self.on_relay_tovic_string, 10)
 
         # Loop through all serial devices on the computer to check for the MCU
         self.port = None
+        # self.port = "/tmp/ttyACM9"  # Fake port, for debugging
         ports = SerialRelay.list_serial_ports()
         for i in range(4):
+            if self.port is not None:
+                break
             for port in ports:
                 try:
                     # connect and send a ping command
                     ser = serial.Serial(port, 115200, timeout=1)
                     #(f"Checking port {port}...")
                     ser.write(b"ping\n")
-                    response = ser.read_until("\n")
+                    response = ser.read_until(bytes("\n", "utf8"))
 
                     # if pong is in response, then we are talking with the MCU
                     if b"pong" in response:
                         self.port = port
                         self.get_logger().info(f"Found MCU at {self.port}!")
-                        self.get_logger().info(f"Enabling Relay Mode")
-                        ser.write(b"can_relay_mode,on\n")
                         break
                 except:
                     pass
-            if self.port is not None:
-                break
-        
+
         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)
 
 
@@ -80,19 +111,22 @@ class SerialRelay(Node):
             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 = str(self.ser.readline(), "utf8")
             
             if 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)
-                elif output.startswith("can_relay_fromvic,citadel") or output.startswith("can_relay_fromvic,digit"):  # digit for SHT sensor
+                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
@@ -103,21 +137,61 @@ class SerialRelay(Node):
             print("Closing serial port.")
             if self.ser.is_open:
                 self.ser.close()
-            self.exit(1)
+            exit(1)
         except TypeError as e:
             print(f"TypeError: {e}")
             print("Closing serial port.")
             if self.ser.is_open:
                 self.ser.close()
-            self.exit(1)
+            exit(1)
         except Exception as e:
             print(f"Exception: {e}")
-            print("Closing serial port.")
-            if self.ser.is_open:
-                self.ser.close()
-            self.exit(1)
+            # print("Closing serial port.")
+            # if self.ser.is_open:
+            #     self.ser.close()
+            # exit(1)
 
-    def send_cmd(self, msg):
+
+    def on_mock_fromvic(self, msg: String):
+        """ For testing without an actual MCU, publish strings here as if they came from an MCU """
+        # self.get_logger().info(f"Got command from mock MCU: {msg}")
+        self.relay_fromvic(msg.data)
+
+
+    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) < 3 or parts[0] != "can_relay_fromvic":
+            return
+
+        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"))
@@ -125,7 +199,7 @@ class SerialRelay(Node):
     @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:
@@ -147,6 +221,6 @@ def main(args=None):
     serial_pub.run()
 
 if __name__ == '__main__':
-    signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
+    #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
     main()

src/anchor_pkg/package.xml

@@ -5,7 +5,7 @@
   <version>0.0.0</version>
   <description>TODO: Package description</description>
   <maintainer email="tristanmcginnis26@gmail.com">tristan</maintainer>
-  <license>TODO: License declaration</license>
+  <license>AGPL-3.0-only</license>
 
   <depend>rclpy</depend>
 

src/arm_pkg/arm_pkg/arm_headless.py

@@ -42,7 +42,7 @@ class Headless(Node):
         # Depricated, kept temporarily for reference
         #self.subscriber = self.create_subscription(String, '/astra/arm/feedback', self.read_feedback, 10)
 
-        self.debug_sub = self.create_subscription(String, '/arm/feedback/debug', self.read_feedback, 10)
+        #self.debug_sub = self.create_subscription(String, '/arm/feedback/debug', self.read_feedback, 10)
 
 
         self.laser_status = 0
@@ -81,14 +81,14 @@ class Headless(Node):
             while rclpy.ok():
                 #Check the pico for updates
 
-                self.read_feedback()
+                #self.read_feedback()
                 if pygame.joystick.get_count() == 0: #if controller disconnected, wait for it to be reconnected
                     print(f"Gamepad disconnected: {self.gamepad.get_name()}")
                     
                     while pygame.joystick.get_count() == 0:
                         #self.send_controls() #depricated, kept for reference temporarily
                         self.send_manual()
-                        self.read_feedback()
+                        #self.read_feedback()
                     self.gamepad = pygame.joystick.Joystick(0)
                     self.gamepad.init() #re-initialized gamepad
                     print(f"Gamepad reconnected: {self.gamepad.get_name()}")
@@ -142,7 +142,7 @@ class Headless(Node):
                 input.axis0 = -1
 
             if self.gamepad.get_axis(0) > .15 or self.gamepad.get_axis(0) < -.15:
-                input.axis1 = -1 * round(self.gamepad.get_axis(0))
+                input.axis1 = round(self.gamepad.get_axis(0))
 
             if self.gamepad.get_axis(1) > .15 or self.gamepad.get_axis(1) < -.15:
                 input.axis2 = -1 * round(self.gamepad.get_axis(1))
@@ -268,22 +268,6 @@ class Headless(Node):
     #         pass
 
 
-            
-
-
-    def read_feedback(self, msg):
-        
-        # Create a string message object
-        #msg = String()
-
-        # Set message data
-        #msg.data = output
-
-        # Publish data
-        #self.publisher.publish(msg.data)
-        
-        print(f"[MCU] {msg.data}", end="")
-        #print(f"[Pico] Publishing: {msg}")
 
         
 

src/arm_pkg/arm_pkg/arm_node.py

@@ -1,5 +1,6 @@
 import rclpy
 from rclpy.node import Node
+from rclpy import qos
 import serial
 import sys
 import threading
@@ -13,9 +14,34 @@ from ros2_interfaces_pkg.msg import ArmIK
 from ros2_interfaces_pkg.msg import SocketFeedback
 from ros2_interfaces_pkg.msg import DigitFeedback
 
+
+# IK-Related imports
+import numpy as np
+import time, math, os
+from math import sin, cos, pi
+from ament_index_python.packages import get_package_share_directory
+# from ikpy.chain import Chain
+# from ikpy.link import OriginLink, URDFLink
+# #import pygame as pyg
+# from scipy.spatial.transform import Rotation as R
+
+from . import astra_arm
+
+# control_qos = qos.QoSProfile(
+#     history=qos.QoSHistoryPolicy.KEEP_LAST,
+#     depth=1,
+#     reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
+#     durability=qos.QoSDurabilityPolicy.VOLATILE,
+#     deadline=1000,
+#     lifespan=500,
+#     liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
+#     liveliness_lease_duration=5000
+# )
+
 serial_pub = None
 thread = None
 
+
 class SerialRelay(Node):
     def __init__(self):
         # Initialize node
@@ -30,17 +56,20 @@ class SerialRelay(Node):
         self.debug_pub = self.create_publisher(String, '/arm/feedback/debug', 10)
         self.socket_pub = self.create_publisher(SocketFeedback, '/arm/feedback/socket', 10)
         self.digit_pub = self.create_publisher(DigitFeedback, '/arm/feedback/digit', 10)
-        self.feedback_timer = self.create_timer(1.0, self.publish_feedback)
+        self.feedback_timer = self.create_timer(0.25, self.publish_feedback)
 
         # Create subscribers
-        self.ik_sub = self.create_subscription(ArmIK, '/arm/control/ik', self.send_ik, 10) 
+        self.ik_sub = self.create_subscription(ArmIK, '/arm/control/ik', self.send_ik, 10)
         self.man_sub = self.create_subscription(ArmManual, '/arm/control/manual', self.send_manual, 10)
 
+        self.ik_debug = self.create_publisher(String, '/arm/debug/ik', 10)
+
         # Topics used in anchor mode
         if self.launch_mode == 'anchor':
             self.anchor_sub = self.create_subscription(String, '/anchor/arm/feedback', self.anchor_feedback, 10)
             self.anchor_pub = self.create_publisher(String, '/anchor/relay', 10)
 
+        self.arm = astra_arm.Arm('arm12.urdf')
         self.arm_feedback = SocketFeedback()
         self.digit_feedback = DigitFeedback()
 
@@ -56,7 +85,7 @@ class SerialRelay(Node):
                         ser = serial.Serial(port, 115200, timeout=1)
                         #print(f"Checking port {port}...")
                         ser.write(b"ping\n")
-                        response = ser.read_until("\n")
+                        response = ser.read_until("\n")  # type: ignore
 
                         # if pong is in response, then we are talking with the MCU
                         if b"pong" in response:
@@ -124,48 +153,106 @@ class SerialRelay(Node):
             pass
 
     def send_ik(self, msg):
-        pass
+        # Convert Vector3 to a NumPy array
+        input_raw = np.array([-msg.movement_vector.x, msg.movement_vector.y, msg.movement_vector.z])  # Convert input to a NumPy array
+        # decrease input vector by 90%
+        input_raw = input_raw * 0.2
 
-    def send_manual(self, msg):
+        if input_raw[0] == 0.0 and input_raw[1] == 0.0 and input_raw[2] == 0.0:
+            self.get_logger().info("No input, stopping arm.")
+            command = "can_relay_tovic,arm,39,0,0,0,0\n"
+            self.send_cmd(command)
+            return
+
+        # Debug output
+        tempMsg = String()
+        tempMsg.data = "From IK Control Got Vector: " + str(input_raw)
+        #self.debug_pub.publish(tempMsg)
+
+        # Target position is current position + input vector
+        current_position = self.arm.get_position_vector()
+        target_position = current_position + input_raw
+
+
+        #Print for IK DEBUG
+        tempMsg = String()
+        # tempMsg.data = "Current Position: " + str(current_position) + "\nInput Vector" + str(input_raw) + "\nTarget Position: " + str(target_position) + "\nAngles: " + str(self.arm.current_angles)
+        tempMsg.data = "Current Angles: " + str(math.degrees(self.arm.current_angles[2])) + ", " + str(math.degrees(self.arm.current_angles[4])) + ", " + str(math.degrees(self.arm.current_angles[6]))
+        self.ik_debug.publish(tempMsg)
+        self.get_logger().info(f"[IK] {tempMsg.data}")
+
+        # Debug output for current position
+        #tempMsg.data = "Current Position: " + str(current_position)
+        #self.debug_pub.publish(tempMsg)
+
+        # Debug output for target position
+        #tempMsg.data = "Target Position: " + str(target_position)
+        #self.debug_pub.publish(tempMsg)
+
+        # Perform IK with the target position
+        if self.arm.perform_ik(target_position, self.get_logger()):
+            # Send command to control
+            
+            #command = "can_relay_tovic,arm,32," + ",".join(map(str, self.arm.ik_angles[:4])) + "\n"
+            #self.send_cmd(command)
+            self.get_logger().info(f"IK Success: {target_position}")
+            self.get_logger().info(f"IK Angles: [{str(round(math.degrees(self.arm.ik_angles[2]), 2))}, {str(round(math.degrees(self.arm.ik_angles[4]), 2))}, {str(round(math.degrees(self.arm.ik_angles[6]), 2))}]")
+
+            # tempMsg = String()
+            # tempMsg.data = "IK Success: " + str(target_position)
+            # #self.debug_pub.publish(tempMsg)
+            # tempMsg.data = "Sending: " + str(command)
+            #self.debug_pub.publish(tempMsg)
+
+            # Send the IK angles to the MCU
+            command = "can_relay_tovic,arm,32," + f"{math.degrees(self.arm.ik_angles[0])*10},{math.degrees(self.arm.ik_angles[2])*10},{math.degrees(self.arm.ik_angles[4])*10},{math.degrees(self.arm.ik_angles[6])*10}" + "\n"
+            # self.send_cmd(command)
+
+            # Manual control for Wrist/Effector
+            command += "can_relay_tovic,digit,35," + str(msg.effector_roll) + "\n"
+            
+            command += "can_relay_tovic,digit,36,0," + str(msg.effector_yaw) + "\n"
+
+            command += "can_relay_tovic,digit,26," + str(msg.gripper) + "\n"
+
+            command += "can_relay_tovic,digit,28," + str(msg.laser) + "\n"
+
+            self.send_cmd(command)
+        else:
+            self.get_logger().info("IK Fail")
+            self.get_logger().info(f"IK Angles: [{str(math.degrees(self.arm.ik_angles[2]))}, {str(math.degrees(self.arm.ik_angles[4]))}, {str(math.degrees(self.arm.ik_angles[6]))}]")
+            # tempMsg = String()
+            # tempMsg.data = "IK Fail"
+            #self.debug_pub.publish(tempMsg)
+
+
+    def send_manual(self, msg: ArmManual):
         axis0 = msg.axis0
         axis1 = -1 * msg.axis1
         axis2 = msg.axis2
         axis3 = msg.axis3
 
         #Send controls for arm
-        command = "can_relay_tovic,arm,39," + str(axis0) + "," + str(axis1) + "," + str(axis2) + "," + str(axis3) + "\n"
-        #self.send_cmd(command)
+        command = "can_relay_tovic,arm,18," + str(int(msg.brake)) + "\n"
+        command += "can_relay_tovic,arm,39," + str(axis0) + "," + str(axis1) + "," + str(axis2) + "," + str(axis3) + "\n"
         
         #Send controls for end effector
-        command += "can_relay_tovic,digit,35," + str(msg.effector_roll) + "\n"
-        #self.send_cmd(command)
-        
-        command += "can_relay_tovic,digit,36,0," + str(msg.effector_yaw) + "\n"
-        #self.send_cmd(command)
+
+        # command += "can_relay_tovic,digit,35," + str(msg.effector_roll) + "\n"
+        # command += "can_relay_tovic,digit,36,0," + str(msg.effector_yaw) + "\n"
+        command += "can_relay_tovic,digit,39," + str(msg.effector_yaw) + "," + str(msg.effector_roll) + "\n"
 
         command += "can_relay_tovic,digit,26," + str(msg.gripper) + "\n"
-        #self.send_cmd(command)
 
         command += "can_relay_tovic,digit,28," + str(msg.laser) + "\n"
+
+        command += "can_relay_tovic,digit,34," + str(msg.linear_actuator) + "\n"
+
         self.send_cmd(command)
-        
-        
-        
-        #print(f"[Wrote] {command}", end="")
-
-    #Not yet finished, needs embedded implementation for new commands
-        # ef_roll = msg.effector_roll
-        # ef_yaw = msg.effector_yaw
-        # gripper = msg.gripper
-        # actuator = msg.linear_actuator
-        # laser = msg.laser
-        # #Send controls for digit
-
-        # command = "can_relay_tovic,digit," + str(ef_roll) + "," + str(ef_yaw) + "," + str(gripper) + "," + str(actuator) + "," + str(laser) + "\n"
 
         return
     
-    def send_cmd(self, msg):
+    def send_cmd(self, msg: str):
         if self.launch_mode == 'anchor': #if in anchor mode, send to anchor node to relay
             output = String()
             output.data = msg
@@ -174,7 +261,7 @@ class SerialRelay(Node):
             self.get_logger().info(f"[Arm to MCU] {msg}")
             self.ser.write(bytes(msg, "utf8"))
 
-    def anchor_feedback(self, msg):
+    def anchor_feedback(self, msg: String):
         output = msg.data
         if output.startswith("can_relay_fromvic,arm,55"):
             #pass
@@ -183,7 +270,6 @@ class SerialRelay(Node):
             #pass
             self.updateBusVoltage(output)
         elif output.startswith("can_relay_fromvic,arm,53"):
-            #pass
             self.updateMotorFeedback(output)
         elif output.startswith("can_relay_fromvic,digit,54"):
             parts = msg.data.split(",")
@@ -198,6 +284,7 @@ class SerialRelay(Node):
             parts = msg.data.split(",")
             if len(parts) >= 4:
                 self.digit_feedback.wrist_angle = float(parts[3])
+                # self.digit_feedback.wrist_roll = float(parts[4])
         else:
             return
 
@@ -205,17 +292,17 @@ class SerialRelay(Node):
         self.socket_pub.publish(self.arm_feedback)
         self.digit_pub.publish(self.digit_feedback)
 
-    def updateAngleFeedback(self, msg: String):
-                # Angle feedbacks,
-        #split the msg.data by commas
-        parts = msg.data.split(",")
+    def updateAngleFeedback(self, msg: str):
+        # Angle feedbacks,
+        # split the msg.data by commas
+        parts = msg.split(",")
         
         if len(parts) >= 7:
             # Extract the angles from the string
             angles_in = parts[3:7]
             # Convert the angles to floats divide by 10.0
             angles = [float(angle) / 10.0 for angle in angles_in]
-            #angles[0] = 0.0 #override axis0 to zero
+            # angles[0] = 0.0 #override axis0 to zero
             #
             #
             #THIS NEEDS TO BE REMOVED LATER
@@ -227,7 +314,7 @@ class SerialRelay(Node):
             #
             #
             # # Update the arm's current angles
-            #self.arm.update_angles(angles)
+            self.arm.update_angles(angles)
             self.arm_feedback.axis0_angle = angles[0]
             self.arm_feedback.axis1_angle = angles[1]
             self.arm_feedback.axis2_angle = angles[2]
@@ -240,10 +327,9 @@ class SerialRelay(Node):
         else:
             self.get_logger().info("Invalid angle feedback input format")
 
-
-    def updateBusVoltage(self, msg: String):
+    def updateBusVoltage(self, msg: str):
         # Bus Voltage feedbacks
-        parts = msg.data.split(",")
+        parts = msg.split(",")
         if len(parts) >= 7:
             # Extract the voltage from the string
             voltages_in = parts[3:7]
@@ -254,25 +340,29 @@ class SerialRelay(Node):
             self.arm_feedback.voltage_3 = float(voltages_in[3]) / 100.0
         else:
             self.get_logger().info("Invalid voltage feedback input format")
-
-
-    def updateMotorFeedback(self, msg):
-        # Motor voltage/current/temperature feedback
-        return
-        # parts = msg.data.split(",")
-        # if len(parts) >= 7:
-        #     # Extract the voltage/current/temperature from the string
-        #     values_in = parts[3:7]
-        #     # Convert the voltages to floats
-        #     for i in range(4):
-        #         #update arm_feedback's axisX_temp for each axis0_temp, axis1_temp, etc...
-        #         pass
-
-        #         # self.arm_feedback.updateJointVoltages(i, float(values_in[i]) / 10.0)
-        #         # self.arm_feedback.updateJointCurrents(i, float(values_in[i]) / 10.0)
-        #         # self.arm_feedback.updateJointTemperatures(i, float(values_in[i]) / 10.0)
-        # else:
-        #     self.get_logger().info("Invalid motor feedback input format")
+    
+    def updateMotorFeedback(self, msg: str):
+        parts = str(msg.strip()).split(",")
+        motorId = round(float(parts[3]))
+        temp = float(parts[4]) / 10.0
+        voltage = float(parts[5]) / 10.0
+        current = float(parts[6]) / 10.0
+        if motorId == 1:
+            self.arm_feedback.axis1_temp = temp
+            self.arm_feedback.axis1_voltage = voltage
+            self.arm_feedback.axis1_current = current
+        elif motorId == 2:
+            self.arm_feedback.axis2_temp = temp
+            self.arm_feedback.axis2_voltage = voltage
+            self.arm_feedback.axis2_current = current
+        elif motorId == 3:
+            self.arm_feedback.axis3_temp = temp
+            self.arm_feedback.axis3_voltage = voltage
+            self.arm_feedback.axis3_current = current
+        elif motorId == 4:
+            self.arm_feedback.axis0_temp = temp
+            self.arm_feedback.axis0_voltage = voltage
+            self.arm_feedback.axis0_current = current
 
 
     @staticmethod
@@ -282,8 +372,11 @@ class SerialRelay(Node):
 
     def cleanup(self):
         print("Cleaning up...")
-        if self.ser.is_open:
-            self.ser.close()
+        try:
+            if self.ser.is_open:
+                self.ser.close()
+        except Exception as e:
+            exit(0)
 
 def myexcepthook(type, value, tb):
     print("Uncaught exception:", type, value)
@@ -299,6 +392,6 @@ def main(args=None):
     serial_pub.run()
 
 if __name__ == '__main__':
-    signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
+    #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
     main()

src/arm_pkg/arm_pkg/astra_arm.py

@@ -0,0 +1,145 @@
+import rclpy
+from rclpy.node import Node
+import numpy as np
+import time, math, os
+from math import sin, cos, pi
+from ament_index_python.packages import get_package_share_directory
+from ikpy.chain import Chain
+from ikpy.link import OriginLink, URDFLink
+#import pygame as pyg
+from scipy.spatial.transform import Rotation as R
+from geometry_msgs.msg import Vector3  
+
+
+# Misc
+degree = pi / 180.0
+
+
+def convert_angles(angles):
+    # Converts angles to the format used for the urdf (contains some dummy joints)
+    return [0.0, math.radians(angles[0]), math.radians(angles[1]), 0.0, math.radians(angles[2]), 0.0, math.radians(angles[3]), 0.0, math.radians(angles[4]), math.radians(angles[5]), 0.0]
+
+
+class Arm:
+    def __init__(self, urdf_name):
+        self.ik_tolerance = 1e-1 #Tolerance (in meters) to determine if solution is valid
+        # URDF file path
+        self.urdf = os.path.join(get_package_share_directory('arm_pkg'), 'urdf', urdf_name)
+        # IKpy Chain        
+        self.chain = Chain.from_urdf_file(self.urdf)
+
+
+        # Arrays for joint states
+        # Some links in the URDF are static (non-joints), these will remain zero for IK
+        # Indexes: Fixed_base, Ax_0, Ax_1, seg1, Ax_2, seg2, ax_3, seg3, continuous, wrist, Effector
+        self.zero_angles = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+        self.current_angles = self.zero_angles
+        self.last_angles = self.zero_angles
+        self.ik_angles = self.zero_angles
+
+        self.current_position: list[float] = []
+        self.target_position = [0.0, 0.0, 0.0] 
+        self.target_orientation: list = [] # Effector orientation desired at target position. 
+                                # Generally orientation for the effector is modified manually by the operator. 
+        
+        # Might not need, copied over from state_publisher.py in ik_test
+        #self.step = 0.03 # Max movement increment
+
+
+    def perform_ik(self, target_position, logger):
+        self.target_position = target_position
+        # Update the target orientation to the current orientation
+        self.update_orientation()
+        # print(f"[IK FOR] Target Position: {self.target_position}")
+        try:
+            # print(f"[TRY] Current Angles: {self.current_angles}")
+            # print(f"[TRY] Target Position: {self.target_position}")
+            # print(f"[TRY] Target Orientation: {self.target_orientation}")
+            self.ik_angles = self.chain.inverse_kinematics(
+                target_position=self.target_position,
+                target_orientation=self.target_orientation,
+                initial_position=self.current_angles,
+                orientation_mode="all"
+            )
+            # Check if the solution is within the tolerance
+            fk_matrix = self.chain.forward_kinematics(self.ik_angles)
+
+            fk_position = fk_matrix[:3, 3]  # type: ignore
+            
+            # print(f"[TRY] FK Position for Solution: {fk_position}")
+
+            error = np.linalg.norm(target_position - fk_position)
+            if error > self.ik_tolerance:
+                logger.info(f"No VALID IK Solution within tolerance. Error: {error}")
+                return False
+            else:
+                logger.info(f"IK Solution Found. Error: {error}")
+                return True
+        except Exception as e:
+            logger.info(f"IK failed for exception: {e}")
+            return False
+    
+    # # Given the FK_Matix for the arm's current pose, update the orientation array
+    # def update_orientation(self, fk_matrix):
+    #     self.target_orientation = fk_matrix[:3, :3]
+    #     return
+    
+    # def update_joints(self, ax_0, ax_1, ax_2, ax_3, wrist):
+    #     self.current_angles = [0.0, 0.0, ax_0, ax_1, ax_2, ax_3, wrist, 0.0]
+    #     return
+
+    # Get current orientation of the end effector and update target_orientation
+    def update_orientation(self):
+
+        # FK matrix for arm's current pose
+        fk_matrix = self.chain.forward_kinematics(self.current_angles)
+        
+        # Update target_orientation to the effector's current orientation
+        self.target_orientation = fk_matrix[:3, :3]  # type: ignore
+
+    # Update current angles to those provided
+    # Resetting last_angles to the new angles
+    #
+    # Use: First call, or when angles are changed manually.
+    def reset_angles(self, angles):
+        # Update angles to the new angles
+        self.current_angles = convert_angles(angles)
+        self.last_angles = self.current_angles
+
+    # Update current angles to those provided
+    # Maintain previous angles in last_angles
+    #
+    # Use: Repeated calls during IK operation
+    def update_angles(self, angles):
+        # Update angles to the new angles
+        self.last_angles = self.current_angles
+        self.current_angles = convert_angles(angles)
+    
+    # Get current X,Y,Z position of end effector
+    def get_position(self):
+        # FK matrix for arm's current pose
+        fk_matrix = self.chain.forward_kinematics(self.current_angles)
+        
+        # Get the position of the end effector from the FK matrix
+        position = fk_matrix[:3, 3]  # type: ignore
+        
+        return position
+
+    # Get current X,Y,Z position of end effector
+    def get_position_vector(self):
+        # FK matrix for arm's current pose
+        fk_matrix = self.chain.forward_kinematics(self.current_angles)
+        
+        # Get the position of the end effector from the FK matrix
+        position = fk_matrix[:3, 3]  # type: ignore
+
+        # Return position as a NumPy array
+        return np.array(position)
+
+    
+    def update_position(self):
+        # FK matrix for arm's current pose
+        fk_matrix = self.chain.forward_kinematics(self.current_angles)
+        
+        # Get the position of the end effector from the FK matrix and update current pos
+        self.current_position = fk_matrix[:3, 3]  # type: ignore

src/arm_pkg/package.xml

@@ -5,7 +5,7 @@
   <version>1.0.0</version>
   <description>Core arm package which handles ROS2 commnuication.</description>
   <maintainer email="tristanmcginnis26@gmail.com">tristan</maintainer>
-  <license>All Rights Reserved</license>
+  <license>AGPL-3.0-only</license>
 
   <depend>rclpy</depend>
   <depend>ros2_interfaces_pkg</depend>

src/arm_pkg/setup.py

@@ -1,4 +1,6 @@
 from setuptools import find_packages, setup
+import os
+from glob import glob
 
 package_name = 'arm_pkg'
 
@@ -10,6 +12,8 @@ setup(
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'), glob('launch/*')),
+  	    (os.path.join('share', package_name, 'urdf'), glob('urdf/*')),
     ],
     install_requires=['setuptools'],
     zip_safe=True,

src/arm_pkg/urdf/arm11.urdf

@@ -0,0 +1,239 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from omni_description/robots/omnipointer_arm_only.urdf.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="omnipointer" xmlns:xacro="http://ros.org/wiki/xacro">
+  <!--MX64trntbl + MX106:  ? + 0.153 -->
+  <!-- singleaxismount + 2.5girder + singleaxismount + base + MX106: 0.007370876 + 0.0226796 + 0.007370876 + ? + 0.153 -->
+  <!-- frame106 + singleaxismount + adjustgirder + singleaxismount + base + MX28: 0.0907185 + 0.00737088 + 0.110563 + 0.00737088 + ? + 0.077 -->
+  <!-- frame28 + singleaxismount + 5girder + singleaxismount + base + MX28: 0.0907185 + 0.00737088 + 0.0368544 + 0.00737088 + ? + 0.077 -->
+  <!-- frame28 + singleaxismount + 2.5girder + singleaxismount + tip: 0.0907185 + 0.00737088 + 0.0226796 + 0.00737088 + ? -->
+  <material name="omni/Blue">
+    <color rgba="0 0 0.8 1"/>
+  </material>
+  <material name="omni/Red">
+    <color rgba="1 0 0 1"/>
+  </material>
+  <material name="omni/Green">
+    <color rgba="0 1 0 1"/>
+  </material>
+  <material name="omni/Yellow">
+    <color rgba="1 1 0 1"/>
+  </material>
+  <material name="omni/LightGrey">
+    <color rgba="0.6 0.6 0.6 1"/>
+  </material>
+  <material name="omni/DarkGrey">
+    <color rgba="0.4 0.4 0.4 1"/>
+  </material>
+  <!-- Now we can start using the macros xacro:included above to define the actual omnipointer -->
+  <!-- The first use of a macro.  This one was defined in youbot_base/base.urdf.xacro above.
+       A macro like this will expand to a set of link and joint definitions, and to additional
+       Gazebo-related extensions (sensor plugins, etc).  The macro takes an argument, name,
+       that equals "base", and uses it to generate names for its component links and joints
+       (e.g., base_link).  The xacro:included origin block is also an argument to the macro.  By convention,
+       the origin block defines where the component is w.r.t its parent (in this case the parent
+       is the world frame). For more, see http://www.ros.org/wiki/xacro -->
+  <!-- foot for arm-->
+  <link name="base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="10.0"/>
+      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+  </link>
+  <!-- joint between base_link and arm_0_link -->
+  <joint name="arm_joint_0" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="arm_link_0"/>
+  </joint>
+  <link name="arm_link_0">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.02725"/>
+      <geometry>
+        <box size="0.1143 0.1143 0.0545"/>
+      </geometry>
+      <material name="omni/LightGrey"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.02725"/>
+      <geometry>
+        <box size="0.1143 0.1143 0.0545"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- CENTER OF MASS -->
+      <origin rpy="0 0 0" xyz="0 0 0.02725"/>
+      <mass value="0.2"/>
+      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
+      <inertia ixx="0.000267245666667" ixy="0" ixz="0" iyy="0.000267245666667" iyz="0" izz="0.000435483"/>
+    </inertial>
+  </link>
+  <joint name="arm_joint_1" type="revolute">
+    <parent link="arm_link_0"/>
+    <child link="arm_link_1"/>
+    <dynamics damping="3.0" friction="0.3"/>
+    <limit effort="30.0" lower="-3.1415926535" upper="3.1415926535" velocity="5.0"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0545"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <link name="arm_link_1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.075"/>
+      <geometry>
+        <box size="0.0402 0.05 0.15"/>
+      </geometry>
+      <material name="omni/Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.075"/>
+      <geometry>
+        <box size="0.0402 0.05 0.15"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- CENTER OF MASS -->
+      <origin rpy="0 0 0" xyz="0 0 0.075"/>
+      <mass value="0.190421352"/>
+      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
+      <inertia ixx="0.000279744834534" ixy="0" ixz="0" iyy="0.000265717763008" iyz="0" izz="6.53151584738e-05"/>
+    </inertial>
+  </link>
+  <joint name="arm_joint_2" type="revolute">
+    <parent link="arm_link_1"/>
+    <child link="arm_link_2"/>
+    <dynamics damping="3.0" friction="0.3"/>
+    <limit effort="30.0" lower="-1.75079632679" upper="1.75079632679" velocity="5.0"/>
+    <origin rpy="0 0 0" xyz="0 0 0.15"/>
+    <axis xyz="0 1 0"/>
+  </joint>
+  <link name="arm_link_2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.2355"/>
+      <geometry>
+        <box size="0.0356 0.05 0.471"/>
+      </geometry>
+      <material name="omni/Red"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.2355"/>
+      <geometry>
+        <box size="0.0356 0.05 0.471"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- CENTER OF MASS -->
+      <origin rpy="0 0 0" xyz="0 0 0.2355"/>
+      <mass value="0.29302326"/>
+      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
+      <inertia ixx="0.00251484771035" ixy="0" ixz="0" iyy="0.00248474836108" iyz="0" izz="9.19936757328e-05"/>
+    </inertial>
+  </link>
+  <joint name="arm_joint_3" type="revolute">
+    <parent link="arm_link_2"/>
+    <child link="arm_link_3"/>
+    <dynamics damping="3.0" friction="0.3"/>
+    <limit effort="30.0" lower="-1.75079632679" upper="1.75079632679" velocity="5.0"/>
+    <origin rpy="0 0 0" xyz="0 0 0.471"/>
+    <axis xyz="0 1 0"/>
+  </joint>
+  <link name="arm_link_3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.1885"/>
+      <geometry>
+        <box size="0.0356 0.05 0.377"/>
+      </geometry>
+      <material name="omni/Yellow"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.1885"/>
+      <geometry>
+        <box size="0.0356 0.05 0.377"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- CENTER OF MASS -->
+      <origin rpy="0 0 0" xyz="0 0 0.1885"/>
+      <mass value="0.21931466"/>
+      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
+      <inertia ixx="0.000791433503053" ixy="0" ixz="0" iyy="0.000768905501178" iyz="0" izz="6.88531064581e-05"/>
+    </inertial>
+  </link>
+  <joint name="arm_joint_4" type="revolute">
+    <parent link="arm_link_3"/>
+    <child link="arm_link_4"/>
+    <dynamics damping="3.0" friction="0.3"/>
+    <limit effort="30.0" lower="-1.75079632679" upper="1.75079632679" velocity="5.0"/>
+    <origin rpy="0 0 0" xyz="0 0 0.377"/>
+    <axis xyz="0 1 0"/>
+  </joint>
+  <link name="arm_link_4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.066"/>
+      <geometry>
+        <box size="0.0356 0.05 0.132"/>
+      </geometry>
+      <material name="omni/Green"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.066"/>
+      <geometry>
+        <box size="0.0356 0.05 0.132"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- CENTER OF MASS -->
+      <origin rpy="0 0 0" xyz="0 0 0.066"/>
+      <mass value="0.15813986"/>
+      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
+      <inertia ixx="0.00037242266488" ixy="0" ixz="0" iyy="0.000356178538461" iyz="0" izz="4.96474819141e-05"/>
+    </inertial>
+  </link>
+  <joint name="arm_joint_5" type="revolute">
+    <parent link="arm_link_4"/>
+    <child link="arm_link_5"/>
+    <dynamics damping="3.0" friction="0.3"/>
+    <limit effort="30.0" lower="-1.75079632679" upper="1.75079632679" velocity="5.0"/>
+    <origin rpy="0 0 0" xyz="0 0 0.132"/>
+    <axis xyz="1 0 0"/>
+  </joint>
+  <link name="arm_link_5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0.124"/>
+      <geometry>
+        <box size="0.0356 0.05 0.248"/>
+      </geometry>
+      <material name="omni/Blue"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.124"/>
+      <geometry>
+        <box size="0.0356 0.05 0.248"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- CENTER OF MASS -->
+      <origin rpy="0 0 0" xyz="0 0 0.124"/>
+      <mass value="0.15813986"/>
+      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
+      <inertia ixx="0.00037242266488" ixy="0" ixz="0" iyy="0.000356178538461" iyz="0" izz="4.96474819141e-05"/>
+    </inertial>
+  </link>
+  <joint name="arm_joint_6" type="fixed">
+    <parent link="arm_link_5"/>
+    <child link="arm_link_6"/>
+    <origin rpy="0 0 0" xyz="0 0 0.248"/>
+  </joint>
+  <link name="arm_link_6">
+    <inertial>
+      <!-- CENTER OF MASS -->
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="1e-12"/>
+      <!-- box inertia: 1/12*m(y^2+z^2), ... -->
+      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
+    </inertial>
+  </link>
+  <!-- END OF ARM LINKS/JOINTS -->
+</robot>

src/arm_pkg/urdf/arm12.urdf

@@ -0,0 +1,307 @@
+<robot name="robot">
+  <link name="base_footprint"></link>
+  <joint name="base_joint" type="fixed">
+    <parent link="base_footprint" />
+    <child link="base_link" />
+    <origin xyz="0 0 0.0004048057655643422" rpy="0 0 0" />
+  </joint>
+  <link name="base_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <box size="0.5 0.5 0.01" />
+      </geometry>
+      <material name="base_link-material">
+        <color rgba="0 0.6038273388475408 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <box size="0.5 0.5 0.01" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.17" ixy="0" ixz="0" iyy="0.17" iyz="0" izz="0.05" />
+    </inertial>
+  </link>
+  <joint name="Axis_0_Joint" type="revolute">
+    <parent link="base_link" />
+    <child link="Axis_0" />
+    <origin xyz="0 0 0.035" rpy="0 0 0" />
+    <axis xyz="0 0 1"/>
+    <limit effort="1000.0" lower="-2.5" upper="2.5" velocity="0.5"/>  </joint>
+  <link name="Axis_0">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.15" length="0.059" />
+      </geometry>
+      <material name="Axis_0-material">
+        <color rgba="0.3515325994898463 0.4735314961384573 0.9301108583738498 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.15" length="0.059" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
+    </inertial>
+  </link>
+  <joint name="Axis_1_Joint" type="revolute">
+    <parent link="Axis_0" />
+    <child link="Axis_1" />
+    <origin xyz="0 0 0.11189588647115647" rpy="1.5707963267948963 0 0" />
+    <axis xyz="0 0 1"/>
+    <limit effort="1000.0" lower="-1.7" upper="1.7" velocity="0.5"/>  </joint>
+  <link name="Axis_1">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.082" length="0.1" />
+      </geometry>
+      <material name="Axis_1-material">
+        <color rgba="0.14702726648767014 0.14126329113044458 0.7304607400847158 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.082" length="0.1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
+    </inertial>
+  </link>
+  <joint name="Axis_1_to_Segment_1" type="fixed">
+    <parent link="Axis_1" />
+    <child link="Segment_1" />
+    <origin xyz="0 0.2350831500270899 0" rpy="-1.5707963267948963 0 0" />
+  </joint>
+  <link name="Segment_1">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.025" length="0.473" />
+      </geometry>
+      <material name="Segment_1-material">
+        <color rgba="0.09084171117479915 0.3231432091022285 0.1844749944900301 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.025" length="0.473" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
+    </inertial>
+  </link>
+  <joint name="Axis_2_Joint" type="revolute">
+    <parent link="Segment_1" />
+    <child link="Axis_2" />
+    <origin xyz="0 -5.219894517229704e-17 0.2637568842473722" rpy="1.5707963267948963 0 0" />
+    <axis xyz="0 0 1"/>
+    <limit effort="1000.0" lower="-2.7" upper="2.7" velocity="0.5"/>  </joint>
+  <link name="Axis_2">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.055" length="0.1" />
+      </geometry>
+      <material name="Axis_2-material">
+        <color rgba="0.14702726648767014 0.14126329113044458 0.7304607400847158 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.055" length="0.1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
+    </inertial>
+  </link>
+  <joint name="Axis_2_to_Segment_2" type="fixed">
+    <parent link="Axis_2" />
+    <child link="Segment_2" />
+    <origin xyz="0 0.19535682173790003 0" rpy="-1.5707963267948963 0 0" />
+  </joint>
+  <link name="Segment_2">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.025" length="0.393" />
+      </geometry>
+      <material name="Segment_2-material">
+        <color rgba="0.09084171117479915 0.3231432091022285 0.1844749944900301 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.025" length="0.393" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
+    </inertial>
+  </link>
+  <joint name="Axis_3_Joint" type="revolute">
+    <parent link="Segment_2" />
+    <child link="Axis_3" />
+    <origin xyz="0 -4.337792830220178e-17 0.199625776257357" rpy="1.5707963267948963 0 0" />
+    <axis xyz="0 0 1"/>
+    <limit effort="1000.0" lower="-1.6" upper="1.6" velocity="0.5"/>  </joint>
+  <link name="Axis_3">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.1" />
+      </geometry>
+      <material name="Axis_3-material">
+        <color rgba="0.14702726648767014 0.14126329113044458 0.7304607400847158 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.05" length="0.1" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
+    </inertial>
+  </link>
+  <joint name="Axis_3_to_Segment_3" type="fixed">
+    <parent link="Axis_3" />
+    <child link="Segment_3" />
+    <origin xyz="0 0.06725724726912972 0" rpy="-1.5707963267948963 0 0" />
+  </joint>
+  <link name="Segment_3">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.025" length="0.135" />
+      </geometry>
+      <material name="Segment_3-material">
+        <color rgba="0.09084171117479915 0.3231432091022285 0.1844749944900301 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.025" length="0.135" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
+    </inertial>
+  </link>
+  <joint name="Wrist_Joint" type="revolute">
+    <parent link="Segment_3" />
+    <child link="Axis_4" />
+    <origin xyz="0 0 0.0655808825338593" rpy="0 1.5707963267948966 0" />
+    <axis xyz="0 0 1"/>
+    <limit effort="1000.0" lower="-1.6" upper="1.6" velocity="0.5"/>  </joint>
+  <link name="Axis_4">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.075" />
+      </geometry>
+      <material name="Axis_4-material">
+        <color rgba="0.23455058215026167 0.9301108583738498 0.21952619971859377 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.03" length="0.075" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
+    </inertial>
+  </link>
+  <joint name="Continuous_Joint" type="revolute">
+    <parent link="Axis_4" />
+    <child link="Axis_4_C" />
+    <origin xyz="0.0009533507860803557 0 0" rpy="0 -1.5707963267948966 0" />
+    <axis xyz="0 0 1"/>
+    <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0.5"/>
+  </joint>
+  <link name="Axis_4_C">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.02" length="0.01" />
+      </geometry>
+      <material name="Axis_4_C-material">
+        <color rgba="0.006048833020386069 0.407240211891531 0.15592646369776456 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <cylinder radius="0.02" length="0.01" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.3333333333333333" ixy="0" ixz="0" iyy="0.5" iyz="0" izz="0.3333333333333333" />
+    </inertial>
+  </link>
+  <joint name="Axis_4_C_to_Effector" type="fixed">
+    <parent link="Axis_4_C" />
+    <child link="Effector" />
+    <origin xyz="0 0 0.06478774571448076" rpy="0 0 0" />
+  </joint>
+  <link name="Effector">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <box size="0.05 0.01 0.135" />
+      </geometry>
+      <material name="Effector-material">
+        <color rgba="0.2746773120495699 0.01680737574872402 0.5711248294565854 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <box size="0.01 0.01 0.135" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
+    </inertial>
+  </link>
+</robot>

src/bio_pkg/bio_pkg/bio_node.py

@@ -3,6 +3,7 @@ from rclpy.node import Node
 import serial
 import sys
 import threading
+import os
 import glob
 import time
 import atexit
@@ -144,10 +145,11 @@ class SerialRelay(Node):
 
         # LSS (SCYTHE)
         command = "can_relay_tovic,citadel,24," + str(msg.bio_arm) + "\n"
-        self.send_cmd(command)
+        #self.send_cmd(command)
+        
         # Vibration Motor
-        command = "can_relay_tovic,citadel,26," + str(msg.vibration_motor) + "\n"
-        self.send_cmd(command)
+        command += "can_relay_tovic,citadel,26," + str(msg.vibration_motor) + "\n"
+        #self.send_cmd(command)
         
 
         # FAERIE Control Commands 
@@ -156,16 +158,15 @@ class SerialRelay(Node):
         # To be reviewed before use#
 
         # Laser
-        command = "can_relay_tovic,digit,28," + str(msg.laser) + "\n"
-        self.send_cmd(command)
+        command += "can_relay_tovic,digit,28," + str(msg.laser) + "\n"
+        #self.send_cmd(command)
 
         # Drill (SCABBARD)
-        command = f"can_relay_tovic,digit,19,{msg.drill:.2f}\n"
-        print(msg.drill)
-        self.send_cmd(command)
+        command += f"can_relay_tovic,digit,19,{msg.drill:.2f}\n"
+        #self.send_cmd(command)
 
         # Bio linear actuator
-        command = "can_relay_tovic,digit,42," + str(msg.drill_arm) + "\n"
+        command += "can_relay_tovic,digit,42," + str(msg.drill_arm) + "\n"
         self.send_cmd(command)
 
 
@@ -182,7 +183,7 @@ class SerialRelay(Node):
     def anchor_feedback(self, msg: String):
         output = msg.data
         parts = str(output.strip()).split(",")
-        self.get_logger().info(f"[Bio Anchor] {msg.data}")
+        #self.get_logger().info(f"[Bio Anchor] {msg.data}")
 
         if output.startswith("can_relay_fromvic,citadel,54"):  # bat, 12, 5, Voltage readings * 100
             self.bio_feedback.bat_voltage = float(parts[3]) / 100.0
@@ -202,8 +203,11 @@ class SerialRelay(Node):
 
     def cleanup(self):
         print("Cleaning up...")
-        if self.ser.is_open:
-            self.ser.close()
+        try:
+            if self.ser.is_open:
+                self.ser.close()
+        except Exception as e:
+            exit(0)
 
 def myexcepthook(type, value, tb):
     print("Uncaught exception:", type, value)
@@ -219,6 +223,6 @@ def main(args=None):
     serial_pub.run()
 
 if __name__ == '__main__':
-    signal.signal(signal.SIGTSTP, lambda signum, frame: sys.exit(0))  # Catch Ctrl+Z and exit cleanly
+    #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
     main()

src/bio_pkg/package.xml

@@ -5,7 +5,7 @@
   <version>0.0.0</version>
   <description>TODO: Package description</description>
   <maintainer email="tristanmcginnis26@gmail.com">tristan</maintainer>
-  <license>TODO: License declaration</license>
+  <license>AGPL-3.0-only</license>
 
   <depend>rclpy</depend>
   <depend>ros2_interfaces_pkg</depend>

src/core_gazebo/CMakeLists.txt

@@ -0,0 +1,36 @@
+cmake_minimum_required(VERSION 3.8)
+project(core_gazebo)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(controller_manager REQUIRED)
+find_package(gripper_controllers REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(ros2_control REQUIRED)
+find_package(ros2_controllers REQUIRED)
+find_package(trajectory_msgs REQUIRED)
+find_package(xacro REQUIRED)
+
+# Copy necessary files to designated locations in the project
+install (
+  DIRECTORY config launch models worlds
+  DESTINATION share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

src/core_gazebo/config/ros_gz_bridge.yaml

@@ -0,0 +1,25 @@
+# gz topic published by Sensors plugin
+- ros_topic_name: "camera_head/depth/camera_info"
+  gz_topic_name: "camera_head/camera_info"
+  ros_type_name: "sensor_msgs/msg/CameraInfo"
+  gz_type_name: "gz.msgs.CameraInfo"
+  direction: GZ_TO_ROS
+  lazy: true # Determines whether connections are created immediately at startup (when false) or only when data is actually requested by a subscriber (when true), helping to conserve system resources at the cost of potential initial delays in data flow.
+
+# gz topic published by Sensors plugin
+- ros_topic_name: "camera_head/depth/color/points"
+  gz_topic_name: "camera_head/points"
+  ros_type_name: "sensor_msgs/msg/PointCloud2"
+  gz_type_name: "gz.msgs.PointCloudPacked"
+  direction: GZ_TO_ROS
+  lazy: true
+  
+# Clock configuration
+- ros_topic_name: "clock"
+  gz_topic_name: "clock"
+  ros_type_name: "rosgraph_msgs/msg/Clock"
+  gz_type_name: "gz.msgs.Clock"
+  direction: GZ_TO_ROS
+  lazy: false
+  
+

src/core_gazebo/launch/core.gazebo.launch.py

@@ -0,0 +1,286 @@
+#!/usr/bin/env python3
+
+import os
+from launch import LaunchDescription
+from launch.actions import (
+    AppendEnvironmentVariable,
+    DeclareLaunchArgument,
+    IncludeLaunchDescription
+)
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    """
+    Generate a launch description for the Gazebo simulation.
+
+    This function sets up all necessary parameters, paths, and nodes required to launch
+    the Gazebo simulation with a robot. It handles:
+    1. Setting up package paths and constants
+    2. Declaring launch arguments for robot configuration
+    3. Setting up the Gazebo environment
+    4. Spawning the robot in simulation
+
+    Returns:
+        LaunchDescription: A complete launch description for the simulation
+    """
+    # Constants for paths to different files and folders
+    package_name_gazebo = 'core_gazebo'
+    package_name_description = 'core_rover_description'
+    # package_name_moveit = 'mycobot_moveit_config'
+
+    default_robot_name = 'core_rover'
+    gazebo_models_path = 'models'
+    default_world_file = 'pick_and_place_demo.world'
+    gazebo_worlds_path = 'worlds'
+
+    ros_gz_bridge_config_file_path = 'config/ros_gz_bridge.yaml'
+
+    # Set the path to different files and folders
+    pkg_ros_gz_sim = FindPackageShare(package='ros_gz_sim').find('ros_gz_sim')
+    pkg_share_gazebo = FindPackageShare(package=package_name_gazebo).find(package_name_gazebo)
+    pkg_share_description = FindPackageShare(
+        package=package_name_description).find(package_name_description)
+    # pkg_share_moveit = FindPackageShare(package=package_name_moveit).find(package_name_moveit)
+
+    gazebo_models_path = os.path.join(pkg_share_gazebo, gazebo_models_path)
+    default_ros_gz_bridge_config_file_path = os.path.join(
+        pkg_share_gazebo, ros_gz_bridge_config_file_path)
+    
+    # Get the parent directory of the package share to access all ROS packages
+    ros_packages_path = os.path.dirname(pkg_share_description)
+
+    # Launch configuration variables
+    jsp_gui = LaunchConfiguration('jsp_gui')
+    load_controllers = LaunchConfiguration('load_controllers')
+    robot_name = LaunchConfiguration('robot_name')
+    use_rviz = LaunchConfiguration('use_rviz')
+    use_camera = LaunchConfiguration('use_camera')
+    use_gazebo = LaunchConfiguration('use_gazebo')
+    use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    world_file = LaunchConfiguration('world_file')
+
+    world_path = PathJoinSubstitution([
+        pkg_share_gazebo,
+        gazebo_worlds_path,
+        world_file
+    ])
+
+    # Set the pose configuration variables
+    x = LaunchConfiguration('x')
+    y = LaunchConfiguration('y')
+    z = LaunchConfiguration('z')
+    roll = LaunchConfiguration('roll')
+    pitch = LaunchConfiguration('pitch')
+    yaw = LaunchConfiguration('yaw')
+
+
+    ################################################################################################
+    # Declare the launch arguments
+
+    declare_robot_name_cmd = DeclareLaunchArgument(
+        name='robot_name',
+        default_value=default_robot_name,
+        description='The name for the robot')
+
+    declare_load_controllers_cmd = DeclareLaunchArgument(
+        name='load_controllers',
+        default_value='true',
+        description='Flag to enable loading of ROS 2 controllers')
+
+    declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
+        name='use_robot_state_pub',
+        default_value='true',
+        description='Flag to enable robot state publisher')
+
+    # GUI and visualization arguments
+    declare_jsp_gui_cmd = DeclareLaunchArgument(
+        name='jsp_gui',
+        default_value='false',
+        description='Flag to enable joint_state_publisher_gui')
+
+    declare_use_camera_cmd = DeclareLaunchArgument(
+        name='use_camera',
+        default_value='false',
+        description='Flag to enable the RGBD camera for Gazebo point cloud simulation')
+
+    declare_use_gazebo_cmd = DeclareLaunchArgument(
+        name='use_gazebo',
+        default_value='true',
+        description='Flag to enable Gazebo')
+
+    declare_use_rviz_cmd = DeclareLaunchArgument(
+        name='use_rviz',
+        default_value='true',
+        description='Flag to enable RViz')
+
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
+        name='use_sim_time',
+        default_value='true',
+        description='Use simulation (Gazebo) clock if true')
+
+    declare_world_cmd = DeclareLaunchArgument(
+        name='world_file',
+        default_value=default_world_file,
+        description='World file name (e.g., simple_demo.world, pick_and_place_demo.world)')
+
+    # Pose arguments
+    declare_x_cmd = DeclareLaunchArgument(
+        name='x',
+        default_value='0.0',
+        description='x component of initial position, meters')
+
+    declare_y_cmd = DeclareLaunchArgument(
+        name='y',
+        default_value='0.0',
+        description='y component of initial position, meters')
+
+    declare_z_cmd = DeclareLaunchArgument(
+        name='z',
+        default_value='0.75',
+        description='z component of initial position, meters')
+
+    declare_roll_cmd = DeclareLaunchArgument(
+        name='roll',
+        default_value='0.0',
+        description='roll angle of initial orientation, radians')
+
+    declare_pitch_cmd = DeclareLaunchArgument(
+        name='pitch',
+        default_value='0.0',
+        description='pitch angle of initial orientation, radians')
+
+    declare_yaw_cmd = DeclareLaunchArgument(
+        name='yaw',
+        default_value='0.0',
+        description='yaw angle of initial orientation, radians')
+
+
+    ################################################################################################
+    # Launch stuff
+
+    # Include Robot State Publisher launch file if enabled
+    robot_state_publisher_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            os.path.join(pkg_share_description, 'launch', 'robot_state_publisher.launch.py')
+        ]),
+        launch_arguments={
+            'jsp_gui': jsp_gui,
+            'use_camera': use_camera,
+            'use_gazebo': use_gazebo,
+            'use_rviz': use_rviz,
+            'use_sim_time': use_sim_time
+        }.items(),
+        condition=IfCondition(use_robot_state_pub)
+    )
+
+    # # Include ROS 2 Controllers launch file if enabled
+    # load_controllers_cmd = IncludeLaunchDescription(
+    #     PythonLaunchDescriptionSource([
+    #         os.path.join(pkg_share_moveit, 'launch', 'load_ros2_controllers.launch.py')
+    #     ]),
+    #     launch_arguments={
+    #         'use_sim_time': use_sim_time
+    #     }.items(),
+    #     condition=IfCondition(load_controllers)
+    # )
+
+    # Set Gazebo model path - include both models directory and ROS packages
+    set_env_vars_resources = AppendEnvironmentVariable(
+        'GZ_SIM_RESOURCE_PATH',
+        gazebo_models_path)
+    
+    # Add ROS packages path so Gazebo can resolve package:// URIs
+    set_env_vars_packages = AppendEnvironmentVariable(
+        'GZ_SIM_RESOURCE_PATH',
+        os.path.dirname(pkg_share_description))
+
+    # Start Gazebo with optimized arguments
+    start_gazebo_cmd = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')),
+        launch_arguments=[('gz_args', [' -r -v 3 --render-engine ogre2 ', world_path])])
+
+    # Bridge ROS topics and Gazebo messages for establishing communication
+    start_gazebo_ros_bridge_cmd = Node(
+        package='ros_gz_bridge',
+        executable='parameter_bridge',
+        parameters=[{
+            'config_file': default_ros_gz_bridge_config_file_path,
+        }],
+        output='screen'
+    )
+
+    # Includes optimizations to minimize latency and bandwidth when streaming image data
+    start_gazebo_ros_image_bridge_cmd = Node(
+        package='ros_gz_image',
+        executable='image_bridge',
+        arguments=[
+            '/camera_head/depth_image',
+            '/camera_head/image',
+        ],
+        remappings=[
+            ('/camera_head/depth_image', '/camera_head/depth/image_rect_raw'),
+            ('/camera_head/image', '/camera_head/color/image_raw'),
+        ],
+        condition=IfCondition(use_camera)
+    )
+
+    # Spawn the robot
+    start_gazebo_ros_spawner_cmd = Node(
+        package='ros_gz_sim',
+        executable='create',
+        output='screen',
+        arguments=[
+            '-topic', '/robot_description',
+            '-name', robot_name,
+            '-allow_renaming', 'true',
+            '-x', x,
+            '-y', y,
+            '-z', z,
+            '-R', roll,
+            '-P', pitch,
+            '-Y', yaw
+        ])
+
+
+    ################################################################################################
+    # Launch description
+
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    ld.add_action(declare_robot_name_cmd)
+    ld.add_action(declare_jsp_gui_cmd)
+    ld.add_action(declare_load_controllers_cmd)
+    ld.add_action(declare_use_camera_cmd)
+    ld.add_action(declare_use_gazebo_cmd)
+    ld.add_action(declare_use_rviz_cmd)
+    ld.add_action(declare_use_robot_state_pub_cmd)
+    ld.add_action(declare_use_sim_time_cmd)
+    ld.add_action(declare_world_cmd)
+
+    # Add pose arguments
+    ld.add_action(declare_x_cmd)
+    ld.add_action(declare_y_cmd)
+    ld.add_action(declare_z_cmd)
+    ld.add_action(declare_roll_cmd)
+    ld.add_action(declare_pitch_cmd)
+    ld.add_action(declare_yaw_cmd)
+
+    # Add the actions to the launch description
+    ld.add_action(set_env_vars_resources)
+    ld.add_action(set_env_vars_packages)
+    ld.add_action(robot_state_publisher_cmd)
+    # ld.add_action(load_controllers_cmd)
+    ld.add_action(start_gazebo_cmd)
+    ld.add_action(start_gazebo_ros_bridge_cmd)
+    ld.add_action(start_gazebo_ros_image_bridge_cmd)
+    ld.add_action(start_gazebo_ros_spawner_cmd)
+
+    return ld

src/core_gazebo/package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>core_gazebo</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="ds0196@uah.edu">David</maintainer>
+  <license>AGPL-3.0-only</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/core_gazebo/worlds/empty.world

@@ -0,0 +1,89 @@
+<?xml version="1.0" ?>
+
+<sdf version="1.6">
+  <world name="default">
+
+    <!-- Plugin for simulating physics -->
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+      <engine>
+        <filename>libgz-physics-bullet-featherstone-plugin.so</filename>
+      </engine>
+    </plugin>
+
+    <!-- Plugin for handling user commands -->
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+
+    <!-- Plugin for broadcasting scene updates -->
+    <plugin
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+
+    <!-- Plugin for handling sensors like the LIDAR -->
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+
+    <!-- Plugin for IMU -->
+    <plugin filename="gz-sim-imu-system"
+      name="gz::sim::systems::Imu">
+    </plugin>
+
+    <!-- To add realistic gravity, do: 0.0 0.0 -9.8, otherwise do 0.0 0.0 0.0 -->
+    <gravity>0.0 0.0 -9.8</gravity>
+
+    <!-- Include a model of the Sun from an external URI -->
+    <include>
+      <uri>
+        https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun
+      </uri>
+    </include>
+
+    <!-- Local Ground Plane with modified friction -->
+    <model name="ground_plane">
+      <static>true</static>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <torsional>
+                <coefficient>0.0</coefficient>
+              </torsional>
+            </friction>
+          </surface>
+        </collision>
+        <visual name="visual">
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <ambient>0.8 0.8 0.8 1</ambient>
+            <diffuse>0.8 0.8 0.8 1</diffuse>
+            <specular>0.8 0.8 0.8 1</specular>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <!-- Define scene properties -->
+    <scene>
+      <shadows>false</shadows>
+    </scene>
+
+  </world>
+</sdf>

src/core_gazebo/worlds/pick_and_place_demo.world

@@ -0,0 +1,83 @@
+<?xml version="1.0" ?>
+
+<sdf version="1.7">
+  <world name="default">
+
+    <!-- Plugin for simulating physics -->
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+
+    <!-- Plugin for handling user commands -->
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+
+    <!-- Plugin for broadcasting scene updates -->
+    <plugin
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+
+    <!-- Plugin for sensor handling -->
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+
+    <!-- To add realistic gravity, do: 0.0 0.0 -9.8, otherwise do 0.0 0.0 0.0 -->
+    <gravity>0.0 0.0 -9.8</gravity>
+
+    <!-- Include a model of the Sun from an external URI -->
+    <include>
+      <uri>
+        https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun
+      </uri>
+    </include>
+
+    <!-- Include a model of the Ground Plane from an external URI -->
+    <include>
+      <uri>
+        https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane
+      </uri>
+    </include>
+
+    <!-- Include the cylinder model -->
+    <!-- <include>
+      <uri>model://red_cylinder</uri>
+      <name>red_cylinder</name>
+      <pose>0.22 0.12 0.175 0 0 0</pose>
+    </include> -->
+
+    <!-- Include the other objects -->
+
+    <!-- <include>
+      <uri>model://mustard</uri>
+      <pose>0.7 0.15 0.08 0 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://cheezit_big_original</uri>
+      <pose>0.64 0.23 0.17 1.571 0 0</pose>
+    </include>
+
+    <include>
+      <uri>model://cardboard_box</uri>
+      <pose>0.65 0.60 0.3 0 0 0.5</pose>
+    </include>
+
+    <include>
+      <uri>model://coke_can</uri>
+      <pose>0.5 0.15 0.15 0 0 2.3</pose>
+    </include> -->
+
+    <!-- Define scene properties -->
+    <scene>
+      <shadows>false</shadows>
+    </scene>
+
+  </world>
+</sdf>

src/core_pkg/core_pkg/core_headless.py

@@ -20,113 +20,86 @@ os.environ["SDL_VIDEODRIVER"] = "dummy"  # Prevents pygame from trying to open a
 os.environ["SDL_AUDIODRIVER"] = "dummy"  # Force pygame to use a dummy audio driver before pygame.init()
 
 
-max_speed = 75 #Max speed as a duty cycle percentage (1-100)
+max_speed = 90 #Max speed as a duty cycle percentage (1-100)
 
 class Headless(Node):
     def __init__(self):
-        # Initalize node with name
-        super().__init__("core_headless")
-
-        self.create_timer(0.20, self.send_controls)
-
-
-        # Create a publisher to publish any output the pico sends
-        self.publisher = self.create_publisher(CoreControl, '/core/control', 10) 
-
-
-        self.lastMsg = String() #Used to ignore sending controls repeatedly when they do not change
-
+        # Initialize pygame first
         pygame.init()
-
-        # Initialize the gamepad module
         pygame.joystick.init()
-
-        # Check if any gamepad is connected
-        if pygame.joystick.get_count() == 0:
-            print("No gamepad found.")
-            pygame.quit()
-            exit()
-        for event in pygame.event.get():
-            if event.type == pygame.QUIT:
-                pygame.quit()
-                exit()
-
-        # Initialize the first gamepad, print name to terminal
+        
+        # Wait for a gamepad to be connected
+        self.gamepad = None
+        print("Waiting for gamepad connection...")
+        while pygame.joystick.get_count() == 0:
+            # Process any pygame events to keep it responsive
+            for event in pygame.event.get():
+                if event.type == pygame.QUIT:
+                    pygame.quit()
+                    sys.exit(0)
+            time.sleep(1.0)  # Check every second
+            print("No gamepad found. Waiting...")
+        
+        # Initialize the gamepad
         self.gamepad = pygame.joystick.Joystick(0)
         self.gamepad.init()
         print(f'Gamepad Found: {self.gamepad.get_name()}')
-        #
-        #
-
+        
+        # Now initialize the ROS2 node
+        super().__init__("core_headless")
+        self.create_timer(0.15, self.send_controls)
+        self.publisher = self.create_publisher(CoreControl, '/core/control', 10)
+        self.lastMsg = String()  # Used to ignore sending controls repeatedly when they do not change
 
     def run(self):
         # This thread makes all the update processes run in the background
         thread = threading.Thread(target=rclpy.spin, args={self}, daemon=True)
         thread.start()
         
-
         try:
             while rclpy.ok():
-                #Check the pico for updates
                 self.send_controls()
-
-                if pygame.joystick.get_count() == 0: #if controller disconnected, wait for it to be reconnected
-                    print(f"Gamepad disconnected: {self.gamepad.get_name()}")
-                    
-                    while pygame.joystick.get_count() == 0:
-                        self.send_controls()
-                    self.gamepad = pygame.joystick.Joystick(0)
-                    self.gamepad.init() #re-initialized gamepad
-                    print(f"Gamepad reconnected: {self.gamepad.get_name()}")
-                    
-
+                time.sleep(0.1)  # Small delay to avoid CPU hogging
         except KeyboardInterrupt:
             sys.exit(0)
-        
 
     def send_controls(self):
-        
         for event in pygame.event.get():
             if event.type == pygame.QUIT:
                 pygame.quit()
-                exit()
-        input = CoreControl()
-
-        input.max_speed = max_speed
-
-        input.right_stick = round(self.gamepad.get_axis(4),2)#right y-axis
-        if self.gamepad.get_axis(5) > 0:
-            input.left_stick = input.right_stick
-        else:
-            input.left_stick = round(self.gamepad.get_axis(1),2)#lext y-axis
-
-
-
-        if pygame.joystick.get_count() != 0:
-            output = f'L: {input.left_stick}, R: {input.right_stick}, M: {max_speed}' #stop the rover if there is no controller connected
-            self.get_logger().info(f"[Ctrl] {output}")
-            self.publisher.publish(input)
-        else:
+                sys.exit(0)
+        
+        # Check if controller is still connected
+        if pygame.joystick.get_count() == 0:
+            print("Gamepad disconnected. Exiting...")
+            # Send one last zero control message
+            input = CoreControl()
             input.left_stick = 0
             input.right_stick = 0
             input.max_speed = 0
-            self.get_logger().info(f"[Ctrl] Stopping. No Gamepad Connected. ")
             self.publisher.publish(input)
+            self.get_logger().info("Final stop command sent. Shutting down.")
+            # Clean up
+            pygame.quit()
+            sys.exit(0)
+            
+        input = CoreControl()
+        input.max_speed = max_speed
+        input.right_stick = -1 * round(self.gamepad.get_axis(4), 2)  # right y-axis
+        if self.gamepad.get_axis(5) > 0:
+            input.left_stick = input.right_stick
+        else:
+            input.left_stick = -1 * round(self.gamepad.get_axis(1), 2)  # left y-axis
 
-
-        
+        output = f'L: {input.left_stick}, R: {input.right_stick}, M: {max_speed}'
+        self.get_logger().info(f"[Ctrl] {output}")
+        self.publisher.publish(input)
 
 def main(args=None):
     rclpy.init(args=args)
-
     node = Headless()
-    
     rclpy.spin(node)
     rclpy.shutdown()
 
-    #tb_bs = BaseStation()
-    #node.run()
-
-
 if __name__ == '__main__':
     main()

src/core_pkg/core_pkg/core_node.py

@@ -1,268 +1,498 @@
-import rclpy
-from rclpy.node import Node
-from std_srvs.srv import Empty
-
-import signal
-import time
-import atexit
-
-import serial
-import sys
-import threading
-import glob
-
-from std_msgs.msg import String
-from ros2_interfaces_pkg.msg import CoreFeedback
-from ros2_interfaces_pkg.msg import CoreControl
-
-serial_pub = None
-thread = None
-
-class SerialRelay(Node):
-    def __init__(self):
-        # Initalize node with name
-        super().__init__("core_node")#previously 'serial_publisher'
-
-        # Get launch mode parameter
-        self.declare_parameter('launch_mode', 'core')
-        self.launch_mode = self.get_parameter('launch_mode').value
-        self.get_logger().info(f"core launch_mode is: {self.launch_mode}")
-
-        # Create publishers 
-        self.debug_pub = self.create_publisher(String, '/core/debug', 10) 
-        self.feedback_pub = self.create_publisher(CoreFeedback, '/core/feedback', 10)
-        # Create a subscriber 
-        self.control_sub = self.create_subscription(CoreControl, '/core/control', self.send_controls, 10)
-        
-        # Create a publisher for telemetry
-        self.telemetry_pub_timer = self.create_timer(1.0, self.publish_feedback)
-
-        # Create a service server for pinging the rover
-        self.ping_service = self.create_service(Empty, '/astra/core/ping', self.ping_callback)
-
-        if self.launch_mode == 'anchor':
-            self.anchor_sub = self.create_subscription(String, '/anchor/core/feedback', self.anchor_feedback, 10)
-            self.anchor_pub = self.create_publisher(String, '/anchor/relay', 10)
-
-        self.core_feedback = CoreFeedback()
-
-
-        if self.launch_mode == 'core':
-            # Loop through all serial devices on the computer to check for the MCU
-            self.port = None
-            ports = SerialRelay.list_serial_ports()
-            for i in range(2):
-                for port in ports:
-                    try:
-                        # connect and send a ping command
-                        ser = serial.Serial(port, 115200, timeout=1)
-                        #(f"Checking port {port}...")
-                        ser.write(b"ping\n")
-                        response = ser.read_until("\n")
-
-                        # if pong is in response, then we are talking with the MCU
-                        if b"pong" in response:
-                            self.port = port
-                            self.get_logger().info(f"Found MCU at {self.port}!")
-                            self.get_logger().info(f"Enabling Relay Mode")
-                            ser.write(b"can_relay_mode,on\n")
-                            break
-                    except:
-                        pass
-                if self.port is not None:
-                    break
-        
-            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)
-            atexit.register(self.cleanup)
-
-
-    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():
-                if self.launch_mode == 'core':
-                    self.read_MCU() # Check the MCU for updates
-        except KeyboardInterrupt:
-            sys.exit(0)
-
-    def read_MCU(self):
-        try:
-            output = str(self.ser.readline(), "utf8")
-            
-            if output:
-                # All output over debug temporarily
-                print(f"[MCU] {output}")
-                msg = String()
-                msg.data = output
-                self.debug_pub.publish(msg)
-                return
-                # Temporary
-
-                # packet = output.strip().split(',')
-                
-                # if len(packet) >= 2 and packet[0] == "core" and packet[1] == "telemetry":
-                #     feedback = CoreFeedback()
-                #     feedback.gpslat = float(packet[2])
-                #     feedback.gpslon = float(packet[3])
-                #     feedback.gpssat = float(packet[4])
-                #     feedback.bnogyr.x = float(packet[5])
-                #     feedback.bnogyr.y = float(packet[6])
-                #     feedback.bnogyr.z = float(packet[7])
-                #     feedback.bnoacc.x = float(packet[8])
-                #     feedback.bnoacc.y = float(packet[9])
-                #     feedback.bnoacc.z = float(packet[10])
-                #     feedback.orient = float(packet[11])
-                #     feedback.bmptemp = float(packet[12])
-                #     feedback.bmppres = float(packet[13])
-                #     feedback.bmpalt = float(packet[14])
-
-                #     self.telemetry_publisher.publish(feedback)
-                # else:
-                #     # print(f"[MCU] {output}", end="")
-                #     # msg = String()
-                #     # msg.data = output
-                #     # self.debug_pub.publish(msg)
-                #     return
-        except serial.SerialException as e:
-            print(f"SerialException: {e}")
-            print("Closing serial port.")
-            if self.ser.is_open:
-                self.ser.close()
-            self.exit(1)
-        except TypeError as e:
-            print(f"TypeError: {e}")
-            print("Closing serial port.")
-            if self.ser.is_open:
-                self.ser.close()
-            self.exit(1)
-        except Exception as e:
-            print(f"Exception: {e}")
-            print("Closing serial port.")
-            if self.ser.is_open:
-                self.ser.close()
-            self.exit(1)
-                
-    def scale_duty(self, value: float, max_speed: float):
-        leftMin = -1
-        leftMax = 1
-        rightMin = -max_speed/100.0
-        rightMax = max_speed/100.0
-
-
-        # Figure out how 'wide' each range is
-        leftSpan = leftMax - leftMin
-        rightSpan = rightMax - rightMin
-
-        # Convert the left range into a 0-1 range (float)
-        valueScaled = float(value - leftMin) / float(leftSpan)
-
-        # Convert the 0-1 range into a value in the right range.
-        return str(rightMin + (valueScaled * rightSpan))
-
-    def send_controls(self, msg):
-        #can_relay_tovic,core,19, left_stick, right_stick 
-        if(msg.turn_to_enable):
-            command = "can_relay_tovic,core,41," + str(msg.turn_to) + ',' + str(msg.turn_to_timeout) + '\n' 
-        else:
-            command = "can_relay_tovic,core,19," + self.scale_duty(msg.left_stick, msg.max_speed) + ',' + self.scale_duty(msg.right_stick, msg.max_speed) + '\n'
-        self.send_cmd(command)
-
-        # Brake mode
-        command = "can_relay_tovic,core,18," + str(int(msg.brake)) + '\n'
-        self.send_cmd(command)
-
-        #print(f"[Sys] Relaying: {command}")
-    def send_cmd(self, msg):
-        if self.launch_mode == 'anchor':
-            #self.get_logger().info(f"[Core to Anchor Relay] {msg}")
-            output = String()#Convert to std_msg string
-            output.data = msg
-            self.anchor_pub.publish(output)
-        elif self.launch_mode == 'core':
-            self.get_logger().info(f"[Core to MCU] {msg}")
-            self.ser.write(bytes(msg, "utf8"))
-
-    def anchor_feedback(self, msg: String):
-        output = msg.data
-        parts = str(output.strip()).split(",")
-        #self.get_logger().info(f"[ANCHOR FEEDBACK parts] {parts}")
-        if output.startswith("can_relay_fromvic,core,48"): #GNSS Lattitude
-            self.core_feedback.gps_lat = float(parts[3])
-        elif output.startswith("can_relay_fromvic,core,49"):#GNSS Longitude
-            self.core_feedback.gps_long = float(parts[3])
-        elif output.startswith("can_relay_fromvic,core,50"):#GNSS Satellite Count
-            self.core_feedback.gps_sats = round(float(parts[3]))
-        elif output.startswith("can_relay_fromvic,core,51"):#Gyro x,y,z
-            self.core_feedback.bno_gyro.x = float(parts[3])
-            self.core_feedback.bno_gyro.y = float(parts[4])
-            self.core_feedback.bno_gyro.z = float(parts[5])
-            self.core_feedback.imu_calib = round(float(parts[6]))
-        elif output.startswith("can_relay_fromvic,core,52"):#Accel x,y,z, heading *10
-            self.core_feedback.bno_accel.x = float(parts[3])
-            self.core_feedback.bno_accel.y = float(parts[4])
-            self.core_feedback.bno_accel.z = float(parts[5])
-            self.core_feedback.orientation = float(parts[6]) / 10.0
-        elif output.startswith("can_relay_fromvic,core,53"):#Rev motor feedback
-            pass
-            #self.updateMotorFeedback(output)
-        elif output.startswith("can_relay_fromvic,core,54"):#bat, 12, 5, 3, Voltage readings * 100
-            self.core_feedback.bat_voltage = float(parts[3]) / 100.0
-            self.core_feedback.voltage_12 = float(parts[4]) / 100.0
-            self.core_feedback.voltage_5 = float(parts[5]) / 100.0
-            self.core_feedback.voltage_3 = float(parts[6]) / 100.0
-        elif output.startswith("can_relay_fromvic,core,56"):#BMP Temp, Altitude, Pressure
-            self.core_feedback.bmp_temp = float(parts[3])
-            self.core_feedback.bmp_alt = float(parts[4])
-            self.core_feedback.bmp_pres = float(parts[5])
-        else:
-            return
-        #self.get_logger().info(f"[Core Anchor] {msg}")
-
-    def publish_feedback(self):
-        #self.get_logger().info(f"[Core] {self.core_feedback}")
-        self.feedback_pub.publish(self.core_feedback)
-
-    def ping_callback(self, request, response):
-        return response
-
-
-    @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):
-   rclpy.init(args=args)
-   sys.excepthook = myexcepthook
-
-   global serial_pub
-
-   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
-    signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(0))  # Catch termination signals and exit cleanly
-    main()
-
+import rclpy
+from rclpy.node import Node
+from rclpy import qos
+from rclpy.duration import Duration
+from std_srvs.srv import Empty
+
+import signal
+import time
+import atexit
+
+import serial
+import os
+import sys
+import threading
+import glob
+from scipy.spatial.transform import Rotation
+from math import copysign
+
+from std_msgs.msg import String, Header
+from sensor_msgs.msg import Imu, NavSatFix, NavSatStatus
+from geometry_msgs.msg import TwistStamped, Twist
+from ros2_interfaces_pkg.msg import CoreControl, CoreFeedback
+from ros2_interfaces_pkg.msg import VicCAN, NewCoreFeedback, Barometer, CoreCtrlState
+
+
+serial_pub = None
+thread = None
+
+CORE_WHEELBASE = 0.836  # meters
+CORE_WHEEL_RADIUS = 0.171  # meters
+CORE_GEAR_RATIO = 100  # Clucky: 100:1, Testbed: 64:1
+
+control_qos = qos.QoSProfile(
+    history=qos.QoSHistoryPolicy.KEEP_LAST,
+    depth=2,
+    reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
+    durability=qos.QoSDurabilityPolicy.VOLATILE,
+    deadline=Duration(seconds=1),
+    lifespan=Duration(nanoseconds=500_000_000),  # 500ms
+    liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
+    liveliness_lease_duration=Duration(seconds=5)
+)
+
+
+class SerialRelay(Node):
+    def __init__(self):
+        # Initalize node with name
+        super().__init__("core_node")
+
+        # Launch mode -- anchor vs core
+        self.declare_parameter('launch_mode', 'core')
+        self.launch_mode = self.get_parameter('launch_mode').value
+        self.get_logger().info(f"Core launch_mode is: {self.launch_mode}")
+
+
+        ##################################################
+        # Topics
+
+        # Anchor
+        if self.launch_mode == 'anchor':
+            self.anchor_fromvic_sub_ = self.create_subscription(VicCAN, '/anchor/from_vic/core', self.relay_fromvic, 20)
+            self.anchor_tovic_pub_ = self.create_publisher(VicCAN, '/anchor/to_vic/relay', 20)
+
+            self.anchor_sub = self.create_subscription(String, '/anchor/core/feedback', self.anchor_feedback, 10)
+            self.anchor_pub = self.create_publisher(String, '/anchor/relay', 10)
+
+        # Control
+
+        # autonomy twist -- m/s and rad/s -- for autonomy, in particular Nav2
+        self.cmd_vel_sub_ = self.create_subscription(TwistStamped, '/cmd_vel', self.cmd_vel_callback, qos_profile=control_qos)
+        # manual twist -- [-1, 1] rather than real units
+        self.twist_man_sub_ = self.create_subscription(Twist, '/core/twist', self.twist_man_callback, qos_profile=control_qos)
+        # manual flags -- brake mode and max duty cycle
+        self.control_state_sub_ = self.create_subscription(CoreCtrlState, '/core/control/state', self.control_state_callback, qos_profile=control_qos)
+        self.twist_max_duty = 0.5  # max duty cycle for twist commands (0.0 - 1.0); walking speed is 0.5
+
+        # Feedback
+
+        # Consolidated and organized core feedback
+        self.feedback_new_pub_ = self.create_publisher(NewCoreFeedback, '/core/feedback_new', 10)
+        self.feedback_new_state = NewCoreFeedback()
+        self.feedback_new_state.fl_motor.id = 1
+        self.feedback_new_state.bl_motor.id = 2
+        self.feedback_new_state.fr_motor.id = 3
+        self.feedback_new_state.br_motor.id = 4
+        self.telemetry_pub_timer = self.create_timer(1.0, self.publish_feedback)  # TODO: not sure about this
+        # IMU (embedded BNO-055)
+        self.imu_pub_ = self.create_publisher(Imu, '/core/imu', 10)
+        self.imu_state = Imu()
+        self.imu_state.header.frame_id = "core_bno055"
+        # GPS (embedded u-blox M9N)
+        self.gps_pub_ = self.create_publisher(NavSatFix, '/gps/fix', 10)
+        self.gps_state = NavSatFix()
+        self.gps_state.header.frame_id = "core_gps_antenna"
+        self.gps_state.status.service = NavSatStatus.SERVICE_GPS
+        self.gps_state.status.status = NavSatStatus.STATUS_NO_FIX
+        self.gps_state.position_covariance_type = NavSatFix.COVARIANCE_TYPE_UNKNOWN
+        # Barometer (embedded BMP-388)
+        self.baro_pub_ = self.create_publisher(Barometer, '/core/baro', 10)
+        self.baro_state = Barometer()
+        self.baro_state.header.frame_id = "core_bmp388"
+
+        # Old
+        
+        # /core/control
+        self.control_sub = self.create_subscription(CoreControl, '/core/control', self.send_controls, 10)  # old control method -- left_stick, right_stick, max_speed, brake, and some other random autonomy stuff
+        # /core/feedback
+        self.feedback_pub = self.create_publisher(CoreFeedback, '/core/feedback', 10)
+        self.core_feedback = CoreFeedback()
+        # Debug
+        self.debug_pub = self.create_publisher(String, '/core/debug', 10)
+        self.ping_service = self.create_service(Empty, '/astra/core/ping', self.ping_callback)
+
+
+        ##################################################
+        # Find microcontroller (Non-anchor only)
+
+        # Core (non-anchor) specific
+        if self.launch_mode == 'core':
+            # Loop through all serial devices on the computer to check for the MCU
+            self.port = None
+            ports = SerialRelay.list_serial_ports()
+            for i in range(2):
+                for port in ports:
+                    try:
+                        # connect and send a ping command
+                        ser = serial.Serial(port, 115200, timeout=1)
+                        #(f"Checking port {port}...")
+                        ser.write(b"ping\n")
+                        response = ser.read_until("\n")  # type: ignore
+
+                        # if pong is in response, then we are talking with the MCU
+                        if b"pong" in response:
+                            self.port = port
+                            self.get_logger().info(f"Found MCU at {self.port}!")
+                            self.get_logger().info(f"Enabling Relay Mode")
+                            ser.write(b"can_relay_mode,on\n")
+                            break
+                    except:
+                        pass
+                if self.port is not None:
+                    break
+        
+            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)
+            atexit.register(self.cleanup)
+        # end __init__()
+
+
+    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():
+                if self.launch_mode == 'core':
+                    self.read_MCU() # Check the MCU for updates
+        except KeyboardInterrupt:
+            sys.exit(0)
+
+    def read_MCU(self):  # NON-ANCHOR SPECIFIC
+        try:
+            output = str(self.ser.readline(), "utf8")
+            
+            if output:
+                # All output over debug temporarily
+                print(f"[MCU] {output}")
+                msg = String()
+                msg.data = output
+                self.debug_pub.publish(msg)
+                return
+        except serial.SerialException as e:
+            print(f"SerialException: {e}")
+            print("Closing serial port.")
+            if self.ser.is_open:
+                self.ser.close()
+            sys.exit(1)
+        except TypeError as e:
+            print(f"TypeError: {e}")
+            print("Closing serial port.")
+            if self.ser.is_open:
+                self.ser.close()
+            sys.exit(1)
+        except Exception as e:
+            print(f"Exception: {e}")
+            print("Closing serial port.")
+            if self.ser.is_open:
+                self.ser.close()
+            sys.exit(1)
+
+    def scale_duty(self, value: float, max_speed: float):
+        leftMin = -1
+        leftMax = 1
+        rightMin = -max_speed/100.0
+        rightMax = max_speed/100.0
+
+        # Figure out how 'wide' each range is
+        leftSpan = leftMax - leftMin
+        rightSpan = rightMax - rightMin
+
+        # Convert the left range into a 0-1 range (float)
+        valueScaled = float(value - leftMin) / float(leftSpan)
+
+        # Convert the 0-1 range into a value in the right range.
+        return str(rightMin + (valueScaled * rightSpan))
+
+    def send_controls(self, msg: CoreControl):
+        if(msg.turn_to_enable):
+            command = "can_relay_tovic,core,41," + str(msg.turn_to) + ',' + str(msg.turn_to_timeout) + '\n' 
+        else:
+            command = "can_relay_tovic,core,19," + self.scale_duty(msg.left_stick, msg.max_speed) + ',' + self.scale_duty(msg.right_stick, msg.max_speed) + '\n'
+        self.send_cmd(command)
+
+        # Brake mode
+        command = "can_relay_tovic,core,18," + str(int(msg.brake)) + '\n'
+        self.send_cmd(command)
+
+        #print(f"[Sys] Relaying: {command}")
+
+    def cmd_vel_callback(self, msg: TwistStamped):
+        linear = msg.twist.linear.x
+        angular = -msg.twist.angular.z
+
+        vel_left_rads = (linear - (angular * CORE_WHEELBASE / 2)) / CORE_WHEEL_RADIUS
+        vel_right_rads = (linear + (angular * CORE_WHEELBASE / 2)) / CORE_WHEEL_RADIUS
+
+        vel_left_rpm = round((vel_left_rads * 60) / (2 * 3.14159)) * CORE_GEAR_RATIO
+        vel_right_rpm = round((vel_right_rads * 60) / (2 * 3.14159)) * CORE_GEAR_RATIO
+        
+        self.send_viccan(20, [vel_left_rpm, vel_right_rpm])
+
+    def twist_man_callback(self, msg: Twist):
+        linear = msg.linear.x  # [-1 1] for forward/back from left stick y
+        angular = msg.angular.z  # [-1 1] for left/right from right stick x
+
+        if (linear < 0):  # reverse turning direction when going backwards (WIP)
+            angular *= -1
+
+        if abs(linear) > 1 or abs(angular) > 1:
+            # if speed is greater than 1, then there is a problem
+            # make it look like a problem and don't just run away lmao
+            linear = copysign(0.25, linear)  # 0.25 duty cycle in direction of control (hopefully slow)
+            angular = copysign(0.25, angular)
+
+        duty_left = linear - angular
+        duty_right = linear + angular
+        scale = max(1, abs(duty_left), abs(duty_right))
+        duty_left /= scale
+        duty_right /= scale
+
+        # Apply max duty cycle
+        # Joysticks provide values [-1, 1] rather than real units
+        duty_left = map_range(duty_left, -1, 1, -self.twist_max_duty, self.twist_max_duty)
+        duty_right = map_range(duty_right, -1, 1, -self.twist_max_duty, self.twist_max_duty)
+
+        self.send_viccan(19, [duty_left, duty_right])
+
+    def control_state_callback(self, msg: CoreCtrlState):
+        # Brake mode
+        self.send_viccan(18, [msg.brake_mode])
+
+        # Max duty cycle
+        self.twist_max_duty = msg.max_duty  # twist_man_callback will handle this
+
+    def send_cmd(self, msg: str):
+        if self.launch_mode == 'anchor':
+            #self.get_logger().info(f"[Core to Anchor Relay] {msg}")
+            output = String()#Convert to std_msg string
+            output.data = msg
+            self.anchor_pub.publish(output)
+        elif self.launch_mode == 'core':
+            self.get_logger().info(f"[Core to MCU] {msg}")
+            self.ser.write(bytes(msg, "utf8"))
+
+
+    def send_viccan(self, cmd_id: int, data: list[float]):
+        self.anchor_tovic_pub_.publish(VicCAN(
+            header=Header(stamp=self.get_clock().now().to_msg(), frame_id="to_vic"),
+            mcu_name="core",
+            command_id=cmd_id,
+            data=data
+        ))
+
+
+    def anchor_feedback(self, msg: String):
+        output = msg.data
+        parts = str(output.strip()).split(",")
+        # GNSS Latitude
+        if output.startswith("can_relay_fromvic,core,48"):
+            self.core_feedback.gps_lat = float(parts[3])
+        # GNSS Longitude
+        elif output.startswith("can_relay_fromvic,core,49"):
+            self.core_feedback.gps_long = float(parts[3])
+        # GNSS Satellite count and altitude
+        elif output.startswith("can_relay_fromvic,core,50"):
+            self.core_feedback.gps_sats = round(float(parts[3]))
+            self.core_feedback.gps_alt = round(float(parts[4]), 2)
+        # Gyro x, y, z, and imu calibration
+        elif output.startswith("can_relay_fromvic,core,51"):
+            self.core_feedback.bno_gyro.x = float(parts[3])
+            self.core_feedback.bno_gyro.y = float(parts[4])
+            self.core_feedback.bno_gyro.z = float(parts[5])
+            self.core_feedback.imu_calib = round(float(parts[6]))
+        # Accel x, y, z, heading
+        elif output.startswith("can_relay_fromvic,core,52"):
+            self.core_feedback.bno_accel.x = float(parts[3])
+            self.core_feedback.bno_accel.y = float(parts[4])
+            self.core_feedback.bno_accel.z = float(parts[5])
+            self.core_feedback.orientation = float(parts[6])
+        # REV Sparkmax feedback
+        elif output.startswith("can_relay_fromvic,core,53"):
+            motorId = round(float(parts[3]))
+            temp = float(parts[4]) / 10.0
+            voltage = float(parts[5]) / 10.0
+            current = float(parts[6]) / 10.0
+            if motorId == 1:
+                self.core_feedback.fl_temp = temp
+                self.core_feedback.fl_voltage = voltage
+                self.core_feedback.fl_current = current
+            elif motorId == 2:
+                self.core_feedback.bl_temp = temp
+                self.core_feedback.bl_voltage = voltage
+                self.core_feedback.bl_current = current
+            elif motorId == 3:
+                self.core_feedback.fr_temp = temp
+                self.core_feedback.fr_voltage = voltage
+                self.core_feedback.fr_current = current
+            elif motorId == 4:
+                self.core_feedback.br_temp = temp
+                self.core_feedback.br_voltage = voltage
+                self.core_feedback.br_current = current
+        # Voltages batt, 12, 5, 3, all * 100
+        elif output.startswith("can_relay_fromvic,core,54"):
+            self.core_feedback.bat_voltage = float(parts[3]) / 100.0
+            self.core_feedback.voltage_12 = float(parts[4]) / 100.0
+            self.core_feedback.voltage_5 = float(parts[5]) / 100.0
+            self.core_feedback.voltage_3 = float(parts[6]) / 100.0
+        # BMP temperature, altitude, pressure
+        elif output.startswith("can_relay_fromvic,core,56"):
+            self.core_feedback.bmp_temp = float(parts[3])
+            self.core_feedback.bmp_alt = float(parts[4])
+            self.core_feedback.bmp_pres = float(parts[5])
+        else:
+            return
+        self.feedback_new_state.header.stamp = self.get_clock().now().to_msg()
+        self.feedback_new_pub_.publish(self.feedback_new_state)
+        #self.get_logger().info(f"[Core Anchor] {msg}")
+
+    def relay_fromvic(self, msg: VicCAN):
+        # Assume that the message is coming from Core
+        # skill diff if not
+        
+        # TODO: add len(msg.data) checks to each feedback message
+
+        # GNSS
+        if msg.command_id == 48:  # GNSS Latitude
+            self.gps_state.latitude = float(msg.data[0])
+        elif msg.command_id == 49:  # GNSS Longitude
+            self.gps_state.longitude = float(msg.data[0])
+        elif msg.command_id == 50:  # GNSS Satellite count and altitude
+            self.gps_state.status.status = NavSatStatus.STATUS_FIX if int(msg.data[0]) >= 3 else NavSatStatus.STATUS_NO_FIX
+            self.gps_state.altitude = float(msg.data[1])
+            self.gps_state.header.stamp = msg.header.stamp
+            self.gps_pub_.publish(self.gps_state)
+        # IMU
+        elif msg.command_id == 51:  # Gyro x, y, z, and imu calibration
+            self.feedback_new_state.imu_calib = round(float(msg.data[3]))
+            self.imu_state.angular_velocity.x = float(msg.data[0])
+            self.imu_state.angular_velocity.y = float(msg.data[1])
+            self.imu_state.angular_velocity.z = float(msg.data[2])
+            self.imu_state.header.stamp = msg.header.stamp
+        elif msg.command_id == 52:  # Accel x, y, z, heading
+            self.imu_state.linear_acceleration.x = float(msg.data[0])
+            self.imu_state.linear_acceleration.y = float(msg.data[1])
+            self.imu_state.linear_acceleration.z = float(msg.data[2])
+            # Deal with quaternion
+            r = Rotation.from_euler('z', float(msg.data[3]), degrees=True)
+            q = r.as_quat()
+            self.imu_state.orientation.x = q[0]
+            self.imu_state.orientation.y = q[1]
+            self.imu_state.orientation.z = q[2]
+            self.imu_state.orientation.w = q[3]
+            self.imu_state.header.stamp = msg.header.stamp
+            self.imu_pub_.publish(self.imu_state)
+        # REV Motors
+        elif msg.command_id == 53:  # REV SPARK MAX feedback
+            motorId = round(float(msg.data[0]))
+            temp = float(msg.data[1]) / 10.0
+            voltage = float(msg.data[2]) / 10.0
+            current = float(msg.data[3]) / 10.0
+            if motorId == 1:
+                self.feedback_new_state.fl_motor.temperature = temp
+                self.feedback_new_state.fl_motor.voltage = voltage
+                self.feedback_new_state.fl_motor.current = current
+                self.feedback_new_state.fl_motor.header.stamp = msg.header.stamp
+            elif motorId == 2:
+                self.feedback_new_state.bl_motor.temperature = temp
+                self.feedback_new_state.bl_motor.voltage = voltage
+                self.feedback_new_state.bl_motor.current = current
+                self.feedback_new_state.bl_motor.header.stamp = msg.header.stamp
+            elif motorId == 3:
+                self.feedback_new_state.fr_motor.temperature = temp
+                self.feedback_new_state.fr_motor.voltage = voltage
+                self.feedback_new_state.fr_motor.current = current
+                self.feedback_new_state.fr_motor.header.stamp = msg.header.stamp
+            elif motorId == 4:
+                self.feedback_new_state.br_motor.temperature = temp
+                self.feedback_new_state.br_motor.voltage = voltage
+                self.feedback_new_state.br_motor.current = current
+                self.feedback_new_state.br_motor.header.stamp = msg.header.stamp
+            self.feedback_new_pub_.publish(self.feedback_new_state)
+        # Board voltage
+        elif msg.command_id == 54:  # Voltages batt, 12, 5, 3, all * 100
+            self.feedback_new_state.board_voltage.vbatt = float(msg.data[0]) / 100.0
+            self.feedback_new_state.board_voltage.v12 = float(msg.data[1]) / 100.0
+            self.feedback_new_state.board_voltage.v5 = float(msg.data[2]) / 100.0
+            self.feedback_new_state.board_voltage.v3 = float(msg.data[3]) / 100.0
+        # Baro
+        elif msg.command_id == 56:  # BMP temperature, altitude, pressure
+            self.baro_state.temperature = float(msg.data[0])
+            self.baro_state.altitude = float(msg.data[1])
+            self.baro_state.pressure = float(msg.data[2])
+            self.baro_state.header.stamp = msg.header.stamp
+            self.baro_pub_.publish(self.baro_state)
+        # REV Motors (pos and vel)
+        elif msg.command_id == 58:  # REV position and velocity
+            motorId = round(float(msg.data[0]))
+            position = float(msg.data[1])
+            velocity = float(msg.data[2])
+            if motorId == 1:
+                self.feedback_new_state.fl_motor.position = position
+                self.feedback_new_state.fl_motor.velocity = velocity
+                self.feedback_new_state.fl_motor.header.stamp = msg.header.stamp
+            elif motorId == 2:
+                self.feedback_new_state.bl_motor.position = position
+                self.feedback_new_state.bl_motor.velocity = velocity
+                self.feedback_new_state.bl_motor.header.stamp = msg.header.stamp
+            elif motorId == 3:
+                self.feedback_new_state.fr_motor.position = position
+                self.feedback_new_state.fr_motor.velocity = velocity
+                self.feedback_new_state.fr_motor.header.stamp = msg.header.stamp
+            elif motorId == 4:
+                self.feedback_new_state.br_motor.position = position
+                self.feedback_new_state.br_motor.velocity = velocity
+                self.feedback_new_state.br_motor.header.stamp = msg.header.stamp
+        else:
+            return
+
+
+    def publish_feedback(self):
+        #self.get_logger().info(f"[Core] {self.core_feedback}")
+        self.feedback_pub.publish(self.core_feedback)
+
+    def ping_callback(self, request, response):
+        return response
+
+
+    @staticmethod
+    def list_serial_ports():
+        return glob.glob("/dev/ttyUSB*") + glob.glob("/dev/ttyACM*")
+    
+    def cleanup(self):
+        print("Cleaning up before terminating...")
+        try:
+            if self.ser.is_open:
+                self.ser.close()
+        except Exception as e:
+            exit(0)
+
+
+def myexcepthook(type, value, tb):
+    print("Uncaught exception:", type, value)
+    if serial_pub:
+        serial_pub.cleanup()
+
+def map_range(value: float, in_min: float, in_max: float, out_min: float, out_max: float):
+    return (value - in_min) * (out_max - out_min) / (in_max - in_min) + out_min
+
+
+def main(args=None):
+   rclpy.init(args=args)
+   sys.excepthook = myexcepthook
+
+   global serial_pub
+
+   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
+    signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(0))  # Catch termination signals and exit cleanly
+    main()

src/core_pkg/package.xml

@@ -5,7 +5,7 @@
   <version>1.0.0</version>
   <description>Core rover control package to handle command interpretation and embedded interfacing.</description>
   <maintainer email="tristanmcginnis26@gmail.com">tristan</maintainer>
-  <license>All Rights Reserved</license>
+  <license>AGPL-3.0-only</license>
 
   <depend>rclpy</depend>
   <depend>ros2_interfaces_pkg</depend>

src/core_rover_description/config/joint_names_core_rover_description.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['', 'right_suspension_joint', 'br_wheel_axis', 'fr_wheel_joint', 'averaging_bar_axis', 'left_suspension_joint', 'bl_wheel_joint', 'fl_wheel_joint', ]

src/core_rover_description/config/rviz_basic_settings.rviz

@@ -0,0 +1,229 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+        - /TF1
+        - /TF1/Frames1
+      Splitter Ratio: 0.5
+    Tree Height: 617
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        drivewhl_l_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        drivewhl_r_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_caster:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gps_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        imu_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        lidar_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        base_footprint:
+          Value: false
+        base_link:
+          Value: false
+        drivewhl_l_link:
+          Value: true
+        drivewhl_r_link:
+          Value: true
+        front_caster:
+          Value: false
+        gps_link:
+          Value: false
+        imu_link:
+          Value: false
+        lidar_link:
+          Value: false
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: false
+      Show Axes: true
+      Show Names: true
+      Tree:
+        base_footprint:
+          base_link:
+            drivewhl_l_link:
+              {}
+            drivewhl_r_link:
+              {}
+            front_caster:
+              {}
+            gps_link:
+              {}
+            imu_link:
+              {}
+            lidar_link:
+              {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 4.434264183044434
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.31193429231643677
+        Y: 0.11948385089635849
+        Z: -0.4807402193546295
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.490397572517395
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 1.0503965616226196
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002f4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002f4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000023f000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 246
+  Y: 77

src/core_rover_description/launch/display.launch.py

@@ -0,0 +1,117 @@
+# Author: Addison Sears-Collins
+# Date: September 14, 2021
+# Description: Launch a two-wheeled robot URDF file using Rviz.
+# https://automaticaddison.com
+ 
+import os
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.conditions import IfCondition, UnlessCondition
+from launch.substitutions import Command, LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.parameter_descriptions import ParameterValue
+ 
+def generate_launch_description():
+ 
+  # Set the path to this package.
+  pkg_share = FindPackageShare(package='core_rover_description').find('core_rover_description')
+ 
+  # Set the path to the RViz configuration settings
+  default_rviz_config_path = os.path.join(pkg_share, 'config/rviz_basic_settings.rviz')
+ 
+  # Set the path to the URDF file
+  default_urdf_model_path = os.path.join(pkg_share, 'urdf/core_rover_description.urdf')
+ 
+  ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ##############  
+  # Launch configuration variables specific to simulation
+  gui = LaunchConfiguration('gui')
+  urdf_model = LaunchConfiguration('urdf_model')
+  rviz_config_file = LaunchConfiguration('rviz_config_file')
+  use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
+  use_rviz = LaunchConfiguration('use_rviz')
+  use_sim_time = LaunchConfiguration('use_sim_time')
+ 
+  # Declare the launch arguments  
+  declare_urdf_model_path_cmd = DeclareLaunchArgument(
+    name='urdf_model', 
+    default_value=default_urdf_model_path, 
+    description='Absolute path to robot urdf file')
+     
+  declare_rviz_config_file_cmd = DeclareLaunchArgument(
+    name='rviz_config_file',
+    default_value=default_rviz_config_path,
+    description='Full path to the RVIZ config file to use')
+     
+  declare_use_joint_state_publisher_cmd = DeclareLaunchArgument(
+    name='gui',
+    default_value='True',
+    description='Flag to enable joint_state_publisher_gui')
+   
+  declare_use_robot_state_pub_cmd = DeclareLaunchArgument(
+    name='use_robot_state_pub',
+    default_value='True',
+    description='Whether to start the robot state publisher')
+ 
+  declare_use_rviz_cmd = DeclareLaunchArgument(
+    name='use_rviz',
+    default_value='True',
+    description='Whether to start RVIZ')
+     
+  declare_use_sim_time_cmd = DeclareLaunchArgument(
+    name='use_sim_time',
+    default_value='True',
+    description='Use simulation (Gazebo) clock if true')
+    
+  # Specify the actions
+ 
+  # Publish the joint state values for the non-fixed joints in the URDF file.
+  start_joint_state_publisher_cmd = Node(
+    condition=UnlessCondition(gui),
+    package='joint_state_publisher',
+    executable='joint_state_publisher',
+    name='joint_state_publisher')
+ 
+  # A GUI to manipulate the joint state values
+  start_joint_state_publisher_gui_node = Node(
+    condition=IfCondition(gui),
+    package='joint_state_publisher_gui',
+    executable='joint_state_publisher_gui',
+    name='joint_state_publisher_gui')
+ 
+  # Subscribe to the joint states of the robot, and publish the 3D pose of each link.
+  start_robot_state_publisher_cmd = Node(
+    condition=IfCondition(use_robot_state_pub),
+    package='robot_state_publisher',
+    executable='robot_state_publisher',
+    parameters=[{'use_sim_time': use_sim_time, 
+                 'robot_description': ParameterValue(Command(['xacro ', urdf_model]), value_type=str)}],
+    arguments=[default_urdf_model_path])
+ 
+  # Launch RViz
+  start_rviz_cmd = Node(
+    condition=IfCondition(use_rviz),
+    package='rviz2',
+    executable='rviz2',
+    name='rviz2',
+    output='screen',
+    arguments=['-d', rviz_config_file])
+   
+  # Create the launch description and populate
+  ld = LaunchDescription()
+ 
+  # Declare the launch options
+  ld.add_action(declare_urdf_model_path_cmd)
+  ld.add_action(declare_rviz_config_file_cmd)
+  ld.add_action(declare_use_joint_state_publisher_cmd)
+  ld.add_action(declare_use_robot_state_pub_cmd)  
+  ld.add_action(declare_use_rviz_cmd) 
+  ld.add_action(declare_use_sim_time_cmd)
+ 
+  # Add any actions
+  ld.add_action(start_joint_state_publisher_cmd)
+  ld.add_action(start_joint_state_publisher_gui_node)
+  ld.add_action(start_robot_state_publisher_cmd)
+  ld.add_action(start_rviz_cmd)
+ 
+  return ld

src/core_rover_description/launch/robot_state_publisher.launch.py

@@ -0,0 +1,238 @@
+#!/usr/bin/env python3
+"""
+Launch RViz visualization for the mycobot robot.
+
+This launch file sets up the complete visualization environment for the mycobot robot,
+including robot state publisher, joint state publisher, and RViz2. It handles loading
+and processing of URDF/XACRO files and controller configurations.
+
+:author: Addison Sears-Collins
+:date: November 15, 2024
+"""
+import os
+from pathlib import Path
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.conditions import IfCondition, UnlessCondition
+from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
+from launch_ros.substitutions import FindPackageShare
+
+
+def process_ros2_controllers_config(context):
+    """Process the ROS 2 controller configuration yaml file before loading the URDF.
+
+    This function reads a template configuration file, replaces placeholder values
+    with actual configuration, and writes the processed file to both source and
+    install directories.
+
+    Args:
+        context: Launch context containing configuration values
+
+    Returns:
+        list: Empty list as required by OpaqueFunction
+    """
+
+    # Get the configuration values
+    prefix = LaunchConfiguration('prefix').perform(context)
+    flange_link = LaunchConfiguration('flange_link').perform(context)
+    robot_name = LaunchConfiguration('robot_name').perform(context)
+
+    home = str(Path.home())
+
+    # Define both source and install paths
+    src_config_path = os.path.join(
+        home,
+        'ros2_ws/src/mycobot_ros2/mycobot_moveit_config/config',
+        robot_name
+    )
+    install_config_path = os.path.join(
+        home,
+        'ros2_ws/install/mycobot_moveit_config/share/mycobot_moveit_config/config',
+        robot_name
+    )
+
+    # Read from source template
+    template_path = os.path.join(src_config_path, 'ros2_controllers_template.yaml')
+    with open(template_path, 'r', encoding='utf-8') as file:
+        template_content = file.read()
+
+    # Create processed content (leaving template untouched)
+    processed_content = template_content.replace('${prefix}', prefix)
+    processed_content = processed_content.replace('${flange_link}', flange_link)
+
+    # Write processed content to both source and install directories
+    for config_path in [src_config_path, install_config_path]:
+        os.makedirs(config_path, exist_ok=True)
+        output_path = os.path.join(config_path, 'ros2_controllers.yaml')
+        with open(output_path, 'w', encoding='utf-8') as file:
+            file.write(processed_content)
+
+    return []
+
+
+# Define the arguments for the XACRO file
+ARGUMENTS = [
+    DeclareLaunchArgument('robot_name', default_value='mycobot_280',
+                          description='Name of the robot'),
+    DeclareLaunchArgument('prefix', default_value='',
+                          description='Prefix for robot joints and links'),
+    DeclareLaunchArgument('add_world', default_value='true',
+                          choices=['true', 'false'],
+                          description='Whether to add world link'),
+    DeclareLaunchArgument('base_link', default_value='base_link',
+                          description='Name of the base link'),
+    DeclareLaunchArgument('base_type', default_value='g_shape',
+                          description='Type of the base'),
+    DeclareLaunchArgument('flange_link', default_value='link6_flange',
+                          description='Name of the flange link'),
+    DeclareLaunchArgument('gripper_type', default_value='adaptive_gripper',
+                          description='Type of the gripper'),
+    DeclareLaunchArgument('use_camera', default_value='false',
+                          choices=['true', 'false'],
+                          description='Whether to use the RGBD Gazebo plugin for point cloud'),
+    DeclareLaunchArgument('use_gazebo', default_value='false',
+                          choices=['true', 'false'],
+                          description='Whether to use Gazebo simulation'),
+    DeclareLaunchArgument('use_gripper', default_value='true',
+                          choices=['true', 'false'],
+                          description='Whether to attach a gripper')
+]
+
+
+def generate_launch_description():
+    """Generate the launch description for the mycobot robot visualization.
+
+    This function sets up all necessary nodes and parameters for visualizing
+    the mycobot robot in RViz, including:
+    - Robot state publisher for broadcasting transforms
+    - Joint state publisher for simulating joint movements
+    - RViz for visualization
+
+    Returns:
+        LaunchDescription: Complete launch description for the visualization setup
+    """
+    # Define filenames
+    urdf_package = 'core_rover_description'
+    urdf_filename = 'core_rover_description.urdf'
+    rviz_config_filename = 'rviz_basic_settings.rviz'
+
+    # Set paths to important files
+    pkg_share_description = FindPackageShare(urdf_package)
+    default_urdf_model_path = PathJoinSubstitution(
+        [pkg_share_description, 'urdf', urdf_filename])
+    default_rviz_config_path = PathJoinSubstitution(
+        [pkg_share_description, 'rviz', rviz_config_filename])
+
+    # Launch configuration variables
+    jsp_gui = LaunchConfiguration('jsp_gui')
+    rviz_config_file = LaunchConfiguration('rviz_config_file')
+    urdf_model = LaunchConfiguration('urdf_model')
+    use_jsp = LaunchConfiguration('use_jsp')
+    use_rviz = LaunchConfiguration('use_rviz')
+    use_sim_time = LaunchConfiguration('use_sim_time')
+
+    # Declare the launch arguments
+    declare_jsp_gui_cmd = DeclareLaunchArgument(
+        name='jsp_gui',
+        default_value='true',
+        choices=['true', 'false'],
+        description='Flag to enable joint_state_publisher_gui')
+
+    declare_rviz_config_file_cmd = DeclareLaunchArgument(
+        name='rviz_config_file',
+        default_value=default_rviz_config_path,
+        description='Full path to the RVIZ config file to use')
+
+    declare_urdf_model_path_cmd = DeclareLaunchArgument(
+        name='urdf_model',
+        default_value=default_urdf_model_path,
+        description='Absolute path to robot urdf file')
+
+    declare_use_jsp_cmd = DeclareLaunchArgument(
+        name='use_jsp',
+        default_value='false',
+        choices=['true', 'false'],
+        description='Enable the joint state publisher')
+
+    declare_use_rviz_cmd = DeclareLaunchArgument(
+        name='use_rviz',
+        default_value='true',
+        description='Whether to start RVIZ')
+
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
+        name='use_sim_time',
+        default_value='false',
+        description='Use simulation (Gazebo) clock if true')
+
+    robot_description_content = ParameterValue(Command([
+        'xacro', ' ', urdf_model, ' ',
+        'robot_name:=', LaunchConfiguration('robot_name'), ' ',
+        'prefix:=', LaunchConfiguration('prefix'), ' ',
+        'add_world:=', LaunchConfiguration('add_world'), ' ',
+        'base_link:=', LaunchConfiguration('base_link'), ' ',
+        'base_type:=', LaunchConfiguration('base_type'), ' ',
+        'flange_link:=', LaunchConfiguration('flange_link'), ' ',
+        'gripper_type:=', LaunchConfiguration('gripper_type'), ' ',
+        'use_camera:=', LaunchConfiguration('use_camera'), ' ',
+        'use_gazebo:=', LaunchConfiguration('use_gazebo'), ' ',
+        'use_gripper:=', LaunchConfiguration('use_gripper')
+    ]), value_type=str)
+
+    # Subscribe to the joint states of the robot, and publish the 3D pose of each link.
+    start_robot_state_publisher_cmd = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='screen',
+        parameters=[{
+            'use_sim_time': use_sim_time,
+            'robot_description': robot_description_content}])
+
+    # Publish the joint state values for the non-fixed joints in the URDF file.
+    start_joint_state_publisher_cmd = Node(
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+        name='joint_state_publisher',
+        parameters=[{'use_sim_time': use_sim_time}],
+        condition=IfCondition(use_jsp))
+
+    # Depending on gui parameter, either launch joint_state_publisher or joint_state_publisher_gui
+    start_joint_state_publisher_gui_cmd = Node(
+        package='joint_state_publisher_gui',
+        executable='joint_state_publisher_gui',
+        name='joint_state_publisher_gui',
+        parameters=[{'use_sim_time': use_sim_time}],
+        condition=IfCondition(jsp_gui))
+
+    # Launch RViz
+    start_rviz_cmd = Node(
+        condition=IfCondition(use_rviz),
+        package='rviz2',
+        executable='rviz2',
+        output='screen',
+        arguments=['-d', rviz_config_file],
+        parameters=[{'use_sim_time': use_sim_time}])
+
+    # Create the launch description and populate
+    ld = LaunchDescription(ARGUMENTS)
+
+    # Process the controller configuration before starting nodes
+    # ld.add_action(OpaqueFunction(function=process_ros2_controllers_config))
+
+    # Declare the launch options
+    ld.add_action(declare_jsp_gui_cmd)
+    ld.add_action(declare_rviz_config_file_cmd)
+    ld.add_action(declare_urdf_model_path_cmd)
+    ld.add_action(declare_use_jsp_cmd) 
+    ld.add_action(declare_use_rviz_cmd)
+    ld.add_action(declare_use_sim_time_cmd)
+
+    # Add any actions
+    ld.add_action(start_joint_state_publisher_cmd)
+    ld.add_action(start_joint_state_publisher_gui_cmd)
+    ld.add_action(start_robot_state_publisher_cmd)
+    ld.add_action(start_rviz_cmd)
+
+    return ld

src/core_rover_description/package.xml

@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>core_rover_description</name>
+  <version>1.0.0</version>
+  <description>This package contains configuration data, 3D models and launch files for Clucky Core</description>
+  <maintainer email="ds0196@uah.edu">David Sharpe</maintainer>
+  <license>AGPL-3.0-only</license>
+
+  <depend>rclpy</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>rviz2</depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/core_rover_description/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/core_ik_pkg
+[install]
+install_scripts=$base/lib/core_ik_pkg

src/core_rover_description/setup.py

@@ -0,0 +1,28 @@
+from setuptools import find_packages, setup
+import os
+from glob import glob
+
+package_name = 'core_rover_description'
+
+list_of_folders = ["config", "launch", "meshes", "textures", "urdf"]
+
+setup_data_files = [
+    ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
+    ('share/' + package_name, ['package.xml'])
+]
+
+for folder in list_of_folders:
+    setup_data_files.append((os.path.join('share', package_name, folder), glob(folder + '/*')))
+
+setup(
+    name=package_name,
+    version='1.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=setup_data_files,  # created above with for loop
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='David Sharpe',
+    maintainer_email='ds0196@uah.edu',
+    description='This package contains configuration data, 3D models and launch files for Clucky Core',
+    license='BSD'
+)

src/core_rover_description/urdf/core_rover_description.csv

@@ -0,0 +1,9 @@
+Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
+base_link,-6.65913085716885E-06,0.109571969438869,-0.0865730790907174,0,0,0,75.3855391061812,2.40019927956544,0.000116237424420155,-0.00156114013755156,2.05138658583389,0.00559155518698155,4.26537268155378,0,0,0,0,0,0,package://core_rover_description/meshes/base_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_rover_description/meshes/base_link.STL,,Shell & Averaging System-1/CSC Shell Assembly-1/CSC V4 Shell-1;Motor and 6 pin connector mount-2;Motor and 6 pin connector mount-1;Inside Motor and 6 pin connector mount plate-1;Shell & Averaging System-1/Diff Box Backing Plate V2-1;Shell & Averaging System-1/Averaging System Outer Plate Backing V1-1;Shell & Averaging System-1/Arm Bracket Assembly Right V3-1/L bracket-1;Shell & Averaging System-1/MirrorArm Bracket Assembly-2/MirrorArm Bolts-1;Shell & Averaging System-1/Arm Bracket Assembly Right V3-1/Arm Bolts-1;Elec_Box_Assem-1/Box_Base-1;Elec_Box_Assem-1/Box_Left_Wall-1;Elec_Box_Assem-1/Box_Front_Wall-1;Elec_Box_Assem-1/Box_Right_Wall-1;Elec_Box_Assem-1/POE Switch (Measured with hole pattern)-1;Elec_Box_Assem-1/Ethernet Switch (Measured with hole pattern)-1;Elec_Box_Assem-1/NUC13ANH_NUC13LCH-1/NUC13ANH_NUC13LCH.STP-1/00_WS_ALL_ASM_CHECK_ASM_1_ASM_1.STP-1/WS_ME_PLACEMENT_ASM_ASM_1_ASM_2.STP-1/WS_ME_TALL_ASSY_ASM_1_ASM_1.STP-1/WS_TOP_COVER_ASM_ASM_1_ASM_1.STP-1/AN_TOP_COVER_1_2.STP-1;Elec_Box_Assem-1/NUC13ANH_NUC13LCH-1/NUC13ANH_NUC13LCH.STP-1/00_WS_ALL_ASM_CHECK_ASM_1_ASM_1.STP-1/WS_ME_PLACEMENT_ASM_ASM_1_ASM_2.STP-1/WS_ME_TALL_ASSY_ASM_1_ASM_1.STP-1/WS_TALL_MID_FRAME_ASM_ASM_1_ASM_1.STP-1/WS_TALL_MID_FRAME_NEW_1_1.STP-1;Elec_Box_Assem-1/SolidStateRelay-1;Elec_Box_Assem-1/100AFuse-1;Elec_Box_Assem-1/Box_Back_Wall-1;Rear_Wall_Sheath_Outer-2;Rear_Wall_Sheath_Outer-1;Shell & Averaging System-1/MirrorArm Bracket Assembly-2/MirrorL bracket-1;Shell & Averaging System-1/Chasis C-Channel Lip-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Core Mount Front Plate-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Core Mount Front Plate-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Easy To weld Tube Spacer-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Easy To weld Tube Spacer-9;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Easy To weld Tube Spacer-10;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Easy To weld Tube Spacer-8;Shell & Averaging System-1/Averaging System Outer Plate V3-1;Shell & Averaging System-1/Diff V5 Assem-2/Diff Box V5-1;Shell & Averaging System-1/Averaging System Outer Plate V3-2;Shell & Averaging System-1/picatinny95mm-1;Shell & Averaging System-1/picatinny95mm-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/90044A425_Black-Oxide Alloy Steel Socket Head Screw-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/90044A425_Black-Oxide Alloy Steel Socket Head Screw-3;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/90044A425_Black-Oxide Alloy Steel Socket Head Screw-4;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/90044A425_Black-Oxide Alloy Steel Socket Head Screw-2;Shell & Averaging System-1/6436K14 .5 Shaft Collar-2;Shell & Averaging System-1/6436K14 .5 Shaft Collar-4;Shell & Averaging System-1/6436K14 .5 Shaft Collar-3;Shell & Averaging System-1/6436K14 .5 Shaft Collar-1;Rear_Wall_Sheath_Inner-1;Shell & Averaging System-1/8896T69 SS U Bolt 1.375in-1;Shell & Averaging System-1/8896T69 SS U Bolt 1.375in-2;Shell & Averaging System-1/Averaging Shaft V3-2;Shell & Averaging System-1/Averaging Shaft V3-3;Shell & Averaging System-1/Diff V5 Assem-2/2342K186_Bearing .5 shaft sealed-3;Shell & Averaging System-1/2342K186_Bearing .5 shaft sealed-1;Shell & Averaging System-1/2342K186_Bearing .5 shaft sealed-2,Origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
+right_suspension_member,0.0011302,-0.12483,0.029359,0,0,0,1.7681,0.0021448,-1.4957E-06,-2.5225E-08,0.0068473,0.00021191,0.0058417,0,0,0,0,0,0,package://core_rover_description/meshes/right_suspension_member.STL,1,1,1,1,0,0,0,0,0,0,package://core_rover_description/meshes/right_suspension_member.STL,,A- POST BOND SUSPENSION (1)-4/P- CENTER LEG [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-4/P- LEG ATTACHMENT CF COVER [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-4/P- CORE ATTACHMENT [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-4/P- AXIS PLATE [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-4/P- LEG ATTACHMENT CF COVER [POST BOND SUSPENSION] (1)-2;A- POST BOND SUSPENSION (1)-4/P- SIDE LEGS [POST BOND SUSPENSION] (1)-2;Gearbox-Wheel Assembly - MIRROR-6/Gearbox Casing-1;Gearbox-Wheel Assembly - MIRROR-6/REV-21-1651.step-1;Gearbox-Wheel Assembly - MIRROR-6/Bonding Tube-1;Gearbox-Wheel Assembly - MIRROR-6/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-XXXX - 57 Sport 3 Stage Ring Gear Housing.STEP-1;Gearbox-Wheel Assembly - MIRROR-6/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-3765 - 57 Sport Motor Block.STEP-1;Gearbox-Wheel Assembly - MIRROR-7/Gearbox Casing-1;A- POST BOND SUSPENSION (1)-4/P- SIDE LEGS [POST BOND SUSPENSION] (1)-1;Gearbox-Wheel Assembly - MIRROR-7/REV-21-1651.step-1;Gearbox-Wheel Assembly - MIRROR-7/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-3765 - 57 Sport Motor Block.STEP-1;Gearbox-Wheel Assembly - MIRROR-7/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-XXXX - 57 Sport 3 Stage Ring Gear Housing.STEP-1;Gearbox-Wheel Assembly - MIRROR-7/Bonding Tube-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/6045N122_Low-Carbon Steel Round Tube 2-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/94645A111_High-Strength Steel Nylon-Insert Locknut-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/96144A239_Fine-Thread Alloy Steel Socket Head Screw-1,Origin_right_suspension_manual,right_suspension_axis,right_suspension_joint,revolute,-0.33067,0.028531,-0.15443,1.5708,0,-1.5708,base_link,0,0,-1,0,0,-0.38,0.38,,,,,,,,
+br_wheel,-0.0476013497459569,-1.09801088221673E-08,6.12845485470359E-09,0,0,0,5.74175792756056,0.115468209215025,7.19767266741869E-10,-2.90603405999934E-10,0.0647068246341468,7.16669744358495E-07,0.0632464587169257,0,0,0,0,0,0,package://core_rover_description/meshes/br_wheel.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_rover_description/meshes/br_wheel.STL,,Gearbox-Wheel Assembly - MIRROR-7/Updated Wheel Starboard-1,Origin_br_wheel_axis,br_wheel_axis,br_wheel_axis,continuous,-0.41838,-0.17155,0.12984,0.52965,-1.5708,0,right_suspension_member,1,0,0,,,,,,,,,,,,
+fr_wheel,-0.0476013497450763,-1.09822306249008E-08,6.12913009234717E-09,0,0,0,5.74175792767292,0.115468209216444,7.20424942594475E-10,-2.90800382125705E-10,0.0647068246345494,7.16670201096685E-07,0.063246458718483,0,0,0,0,0,0,package://core_rover_description/meshes/fr_wheel.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_rover_description/meshes/fr_wheel.STL,,Gearbox-Wheel Assembly - MIRROR-6/Updated Wheel Starboard-1,Origin_fr_wheel_joint,fr_wheel_axis,fr_wheel_joint,continuous,0.41838,-0.17155,0.12984,1.5769,-1.5708,0,right_suspension_member,1,0,0,,,,,,,,,,,,
+averaging_bar,5.12266309124314E-10,0.0103345512865068,6.28647148226413E-10,0,0,0,0.872230516841863,0.000102234478668288,1.26173058927933E-11,-1.00509715989169E-11,0.0236921798518964,1.54032135551904E-11,0.0236577000709469,0,0,0,0,0,0,package://core_rover_description/meshes/averaging_bar.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_rover_description/meshes/averaging_bar.STL,,A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/Old Averaging Bar (Modified)-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/92981A220_Alloy Steel Shoulder Screws-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/92981A220_Alloy Steel Shoulder Screws-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/6045N122_Low-Carbon Steel Round Tube-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/6045N122_Low-Carbon Steel Round Tube-1,Origin_averaging_bar_axis,averaging_bar_axis,averaging_bar_axis,revolute,0,-0.23362,-0.0508,0,-0.0060774,-3.1416,base_link,0,-1,0,0,0,-0.38,0.38,,,,,,,,
+left_suspension_member,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,package://core_rover_description/meshes/left_suspension_member.STL,1,1,1,1,0,0,0,0,0,0,package://core_rover_description/meshes/left_suspension_member.STL,,A- POST BOND SUSPENSION (1)-3/P- LEG ATTACHMENT CF COVER [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-3/P- CENTER LEG [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-3/P- LEG ATTACHMENT CF COVER [POST BOND SUSPENSION] (1)-2;A- POST BOND SUSPENSION (1)-3/P- SIDE LEGS [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-3/P- SIDE LEGS [POST BOND SUSPENSION] (1)-2;Gearbox-Wheel Assembly - MIRROR-2/Gearbox Casing-1;Gearbox-Wheel Assembly - MIRROR-2/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-XXXX - 57 Sport 3 Stage Ring Gear Housing.STEP-1;Gearbox-Wheel Assembly - MIRROR-2/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-3765 - 57 Sport Motor Block.STEP-1;Gearbox-Wheel Assembly - MIRROR-1/Gearbox Casing-1;Gearbox-Wheel Assembly - MIRROR-1/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-XXXX - 57 Sport 3 Stage Ring Gear Housing.STEP-1;Gearbox-Wheel Assembly - MIRROR-1/3 Stage HD - 57 Sport-1/3 Stage HD - 57 Sport.STEP-1/am-3765 - 57 Sport Motor Block.STEP-1;Gearbox-Wheel Assembly - MIRROR-1/REV-21-1651.step-1;Gearbox-Wheel Assembly - MIRROR-1/Bonding Tube-1;Gearbox-Wheel Assembly - MIRROR-2/REV-21-1651.step-1;Gearbox-Wheel Assembly - MIRROR-2/Bonding Tube-1;A- POST BOND SUSPENSION (1)-3/P- CORE ATTACHMENT [POST BOND SUSPENSION] (1)-1;A- POST BOND SUSPENSION (1)-3/P- AXIS PLATE [POST BOND SUSPENSION] (1)-1;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/6045N122_Low-Carbon Steel Round Tube 2-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/96144A239_Fine-Thread Alloy Steel Socket Head Screw-2;A - AVERAGING BAR ASSEMBLY [CORE ROVER WITH PBS] (1)-1/94645A111_High-Strength Steel Nylon-Insert Locknut-2,Origin_left_suspension_manual,left_suspension_axis,left_suspension_joint,revolute,0.33067,0.028531,-0.15443,1.5708,0,1.5708,base_link,0,0,-1,0,0,-0.38,0.38,,,,,,,,
+bl_wheel,-0.0476013497470983,-1.09827822947217E-08,6.12940226352165E-09,0,0,0,5.7417579274106,0.115468209213072,7.20585760708907E-10,-2.90859312873504E-10,0.0647068246335877,7.16669141063303E-07,0.0632464587148044,0,0,0,0,0,0,package://core_rover_description/meshes/bl_wheel.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_rover_description/meshes/bl_wheel.STL,,Gearbox-Wheel Assembly - MIRROR-1/Updated Wheel Starboard-1,Origin_bl_wheel_joint,bl_wheel_axis,bl_wheel_joint,continuous,0.41838,-0.17155,0.12984,1.5769,-1.5708,0,left_suspension_member,1,0,0,,,,,,,,,,,,
+fl_wheel,-0.0476013497448114,-1.09827921201955E-08,6.12933048760311E-09,0,0,0,5.74175792770551,0.115468209216877,7.20541990109492E-10,-2.90874836866816E-10,0.0647068246346634,7.16670369639572E-07,0.06324645871897,0,0,0,0,0,0,package://core_rover_description/meshes/fl_wheel.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://core_rover_description/meshes/fl_wheel.STL,,Gearbox-Wheel Assembly - MIRROR-2/Updated Wheel Starboard-1,Origin_fl_wheel_joint,fl_wheel_axis,fl_wheel_joint,continuous,-0.418377874454344,-0.171553199039643,0.129841324042317,0.529654981264331,-1.5707963267949,0,left_suspension_member,1,0,0,,,,,,,,,,,,

src/core_rover_description/urdf/core_rover_description.urdf

@@ -0,0 +1,457 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
+     Commit Version:   Build Version: 1.6.9403.28032
+     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+  name="core_rover_description">
+
+  <link
+    name="base_link">
+    <inertial>
+      <origin
+        xyz="-6.65913085716885E-06 0.109571969438869 -0.0865730790907174"
+        rpy="0 0 0" />
+      <mass
+        value="75.3855391061812" />
+      <inertia
+        ixx="2.40019927956544"
+        ixy="0.000116237424420155"
+        ixz="-0.00156114013755156"
+        iyy="2.05138658583389"
+        iyz="0.00559155518698155"
+        izz="4.26537268155378" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://core_rover_description/meshes/base_link.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.01764195448412081 0.013702083043526807 0.030713443727452196 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://core_rover_description/meshes/base_link.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <link
+    name="right_suspension_member">
+    <inertial>
+      <origin
+        xyz="0.0011302 -0.12483 0.029359"
+        rpy="0 0 0" />
+      <mass
+        value="1.7681" />
+      <inertia
+        ixx="0.0021448"
+        ixy="-1.4957E-06"
+        ixz="-2.5225E-08"
+        iyy="0.0068473"
+        iyz="0.00021191"
+        izz="0.0058417" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://core_rover_description/meshes/right_suspension_member.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.35 0.35 0.35 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://core_rover_description/meshes/right_suspension_member.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="right_suspension_joint"
+    type="revolute">
+    <origin
+      xyz="-0.33067 0.028531 -0.15443"
+      rpy="1.5708 0 -1.5708" />
+    <parent
+      link="base_link" />
+    <child
+      link="right_suspension_member" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.38"
+      upper="0.38"
+      effort="0"
+      velocity="0" />
+    <mimic
+      joint="left_suspension_joint"
+      multiplier="1"
+      offset="0" />
+  </joint>
+
+  <link
+    name="br_wheel">
+    <inertial>
+      <origin
+        xyz="-0.0476013497459569 -1.09801088221673E-08 6.12845485470359E-09"
+        rpy="0 0 0" />
+      <mass
+        value="5.74175792756056" />
+      <inertia
+        ixx="0.115468209215025"
+        ixy="7.19767266741869E-10"
+        ixz="-2.90603405999934E-10"
+        iyy="0.0647068246341468"
+        iyz="7.16669744358495E-07"
+        izz="0.0632464587169257" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://core_rover_description/meshes/br_wheel.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.01764195448412081 0.013702083043526807 0.030713443727452196 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://core_rover_description/meshes/br_wheel.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="br_wheel_axis"
+    type="continuous">
+    <origin
+      xyz="-0.41838 -0.17155 0.12984"
+      rpy="0.52965 -1.5708 0" />
+    <parent
+      link="right_suspension_member" />
+    <child
+      link="br_wheel" />
+    <axis
+      xyz="1 0 0" />
+  </joint>
+
+  <link
+    name="fr_wheel">
+    <inertial>
+      <origin
+        xyz="-0.0476013497450763 -1.09822306249008E-08 6.12913009234717E-09"
+        rpy="0 0 0" />
+      <mass
+        value="5.74175792767292" />
+      <inertia
+        ixx="0.115468209216444"
+        ixy="7.20424942594475E-10"
+        ixz="-2.90800382125705E-10"
+        iyy="0.0647068246345494"
+        iyz="7.16670201096685E-07"
+        izz="0.063246458718483" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://core_rover_description/meshes/fr_wheel.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.01764195448412081 0.013702083043526807 0.030713443727452196 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://core_rover_description/meshes/fr_wheel.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="fr_wheel_joint"
+    type="continuous">
+    <origin
+      xyz="0.41838 -0.17155 0.12984"
+      rpy="1.5769 -1.5708 0" />
+    <parent
+      link="right_suspension_member" />
+    <child
+      link="fr_wheel" />
+    <axis
+      xyz="1 0 0" />
+  </joint>
+
+  <link
+    name="averaging_bar">
+    <inertial>
+      <origin
+        xyz="5.12266309124314E-10 0.0103345512865068 6.28647148226413E-10"
+        rpy="0 0 0" />
+      <mass
+        value="0.872230516841863" />
+      <inertia
+        ixx="0.000102234478668288"
+        ixy="1.26173058927933E-11"
+        ixz="-1.00509715989169E-11"
+        iyy="0.0236921798518964"
+        iyz="1.54032135551904E-11"
+        izz="0.0236577000709469" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://core_rover_description/meshes/averaging_bar.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://core_rover_description/meshes/averaging_bar.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="averaging_bar_axis"
+    type="revolute">
+    <origin
+      xyz="0 -0.23362 -0.0508"
+      rpy="0 -0.0060774 -3.1416" />
+    <parent
+      link="base_link" />
+    <child
+      link="averaging_bar" />
+    <axis
+      xyz="0 -1 0" />
+    <limit
+      lower="-0.38"
+      upper="0.38"
+      effort="0"
+      velocity="0" />
+    <mimic
+      joint="left_suspension_joint"
+      multiplier="-1"
+      offset="0" />
+  </joint>
+
+  <link
+    name="left_suspension_member">
+    <inertial>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <mass
+        value="1.7681" />
+      <inertia
+        ixx="0"
+        ixy="0"
+        ixz="0"
+        iyy="0"
+        iyz="0"
+        izz="0" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://core_rover_description/meshes/left_suspension_member.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.35 0.35 0.35 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://core_rover_description/meshes/left_suspension_member.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="left_suspension_joint"
+    type="revolute">
+    <origin
+      xyz="0.33067 0.028531 -0.15443"
+      rpy="1.5708 0 1.5708" />
+    <parent
+      link="base_link" />
+    <child
+      link="left_suspension_member" />
+    <axis
+      xyz="0 0 -1" />
+    <limit
+      lower="-0.38"
+      upper="0.38"
+      effort="0"
+      velocity="0" />
+  </joint>
+
+  <link
+    name="bl_wheel">
+    <inertial>
+      <origin
+        xyz="-0.0476013497470983 -1.09827822947217E-08 6.12940226352165E-09"
+        rpy="0 0 0" />
+      <mass
+        value="5.7417579274106" />
+      <inertia
+        ixx="0.115468209213072"
+        ixy="7.20585760708907E-10"
+        ixz="-2.90859312873504E-10"
+        iyy="0.0647068246335877"
+        iyz="7.16669141063303E-07"
+        izz="0.0632464587148044" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://core_rover_description/meshes/bl_wheel.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.01764195448412081 0.013702083043526807 0.030713443727452196 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://core_rover_description/meshes/bl_wheel.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="bl_wheel_joint"
+    type="continuous">
+    <origin
+      xyz="0.41838 -0.17155 0.12984"
+      rpy="1.5769 -1.5708 0" />
+    <parent
+      link="left_suspension_member" />
+    <child
+      link="bl_wheel" />
+    <axis
+      xyz="1 0 0" />
+  </joint>
+
+  <link
+    name="fl_wheel">
+    <inertial>
+      <origin
+        xyz="-0.0476013497448114 -1.09827921201955E-08 6.12933048760311E-09"
+        rpy="0 0 0" />
+      <mass
+        value="5.74175792770551" />
+      <inertia
+        ixx="0.115468209216877"
+        ixy="7.20541990109492E-10"
+        ixz="-2.90874836866816E-10"
+        iyy="0.0647068246346634"
+        iyz="7.16670369639572E-07"
+        izz="0.06324645871897" />
+    </inertial>
+    <visual>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://core_rover_description/meshes/fl_wheel.STL" />
+      </geometry>
+      <material
+        name="">
+        <color
+          rgba="0.01764195448412081 0.013702083043526807 0.030713443727452196 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <geometry>
+        <mesh
+          filename="package://core_rover_description/meshes/fl_wheel.STL" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint
+    name="fl_wheel_joint"
+    type="continuous">
+    <origin
+      xyz="-0.418377874454344 -0.171553199039643 0.129841324042317"
+      rpy="0.529654981264331 -1.5707963267949 0" />
+    <parent
+      link="left_suspension_member" />
+    <child
+      link="fl_wheel" />
+    <axis
+      xyz="1 0 0" />
+  </joint>
+
+</robot>

src/headless_pkg/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>headless_pkg</name>
+  <version>1.0.0</version>
+  <description>Headless rover control package to handle command interpretation and embedded interfacing.</description>
+  <maintainer email="ds0196@uah.edu">David Sharpe</maintainer>
+  <license>AGPL-3.0-only</license>
+
+  <depend>rclpy</depend>
+  <depend>ros2_interfaces_pkg</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/headless_pkg/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/headless_pkg
+[install]
+install_scripts=$base/lib/headless_pkg

src/headless_pkg/setup.py

@@ -0,0 +1,24 @@
+from setuptools import find_packages, setup
+
+package_name = 'headless_pkg'
+
+setup(
+    name=package_name,
+    version='1.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='David Sharpe',
+    maintainer_email='ds0196@uah.edu',
+    description='Headless rover control package to handle command interpretation and embedded interfacing.',
+    license='All Rights Reserved',
+    entry_points={
+        'console_scripts': [
+            "headless_full = src.headless_node:main",
+        ],
+    },
+)

src/headless_pkg/src/headless_node.py

@@ -0,0 +1,287 @@
+import rclpy
+from rclpy.node import Node
+from rclpy import qos
+from rclpy.duration import Duration
+
+import signal
+import time
+import atexit
+
+import serial
+import os
+import sys
+import threading
+import glob
+
+from std_msgs.msg import String
+from geometry_msgs.msg import Twist
+from ros2_interfaces_pkg.msg import CoreControl, ArmManual, BioControl
+from ros2_interfaces_pkg.msg import CoreCtrlState
+
+import pygame
+
+os.environ["SDL_VIDEODRIVER"] = "dummy"  # Prevents pygame from trying to open a display
+os.environ["SDL_AUDIODRIVER"] = "dummy"  # Force pygame to use a dummy audio driver before pygame.init()
+
+
+CORE_STOP_MSG = CoreControl()  # All zeros by default
+CORE_STOP_TWIST_MSG = Twist()  # "
+ARM_STOP_MSG = ArmManual()     # "
+BIO_STOP_MSG = BioControl()    # "
+
+control_qos = qos.QoSProfile(
+    history=qos.QoSHistoryPolicy.KEEP_LAST,
+    depth=2,
+    reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
+    durability=qos.QoSDurabilityPolicy.VOLATILE,
+    deadline=Duration(seconds=1),
+    lifespan=Duration(nanoseconds=500_000_000),  # 500ms
+    liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
+    liveliness_lease_duration=Duration(seconds=5)
+)
+
+CORE_MODE = "twist"  # "twist" or "duty"
+
+
+class Headless(Node):
+    def __init__(self):
+        # Initialize pygame first
+        pygame.init()
+        pygame.joystick.init()
+
+        # Wait for a gamepad to be connected
+        print("Waiting for gamepad connection...")
+        while pygame.joystick.get_count() == 0:
+            # Process any pygame events to keep it responsive
+            for event in pygame.event.get():
+                if event.type == pygame.QUIT:
+                    pygame.quit()
+                    sys.exit(0)
+            time.sleep(1.0)  # Check every second
+            print("No gamepad found. Waiting...")
+
+        # Initialize the gamepad
+        self.gamepad = pygame.joystick.Joystick(0)
+        self.gamepad.init()
+        print(f'Gamepad Found: {self.gamepad.get_name()}')
+
+        # Now initialize the ROS2 node
+        super().__init__("headless")
+        self.create_timer(0.15, self.send_controls)
+
+        self.core_publisher = self.create_publisher(CoreControl, '/core/control', 2)
+        self.arm_publisher = self.create_publisher(ArmManual, '/arm/control/manual', 2)
+        self.bio_publisher = self.create_publisher(BioControl, '/bio/control', 2)
+
+        self.core_twist_pub_ = self.create_publisher(Twist, '/core/twist', qos_profile=control_qos)
+        self.core_state_pub_ = self.create_publisher(CoreCtrlState, '/core/control/state', qos_profile=control_qos)
+
+
+        self.ctrl_mode = "core"  # Start in core mode
+        self.core_brake_mode = False
+        self.core_max_duty = 0.5  # Default max duty cycle (walking speed)
+
+        # Rumble when node is ready (returns False if rumble not supported)
+        self.gamepad.rumble(0.7, 0.8, 150)
+
+
+    def run(self):
+        # This thread makes all the update processes run in the background
+        thread = threading.Thread(target=rclpy.spin, args={self}, daemon=True)
+        thread.start()
+        
+        try:
+            while rclpy.ok():
+                self.send_controls()
+                time.sleep(0.1)  # Small delay to avoid CPU hogging
+        except KeyboardInterrupt:
+            sys.exit(0)
+
+    def send_controls(self):
+        """ Read the gamepad state and publish control messages """
+        for event in pygame.event.get():
+            if event.type == pygame.QUIT:
+                pygame.quit()
+                sys.exit(0)
+        
+        # Check if controller is still connected
+        if pygame.joystick.get_count() == 0:
+            print("Gamepad disconnected. Exiting...")
+            # Send one last zero control message
+            self.core_publisher.publish(CORE_STOP_MSG)
+            self.arm_publisher.publish(ARM_STOP_MSG)
+            self.bio_publisher.publish(BIO_STOP_MSG)
+            self.get_logger().info("Final stop commands sent. Shutting down.")
+            # Clean up
+            pygame.quit()
+            sys.exit(0)
+
+
+        new_ctrl_mode = self.ctrl_mode  # if "" then inequality will always be true
+
+        # Check for control mode change
+        dpad_input = self.gamepad.get_hat(0)
+        if dpad_input[1] == 1:
+            new_ctrl_mode = "arm"
+        elif dpad_input[1] == -1:
+            new_ctrl_mode = "core"
+
+        if new_ctrl_mode != self.ctrl_mode:
+            self.gamepad.rumble(0.6, 0.7, 75)
+            self.ctrl_mode = new_ctrl_mode
+            self.get_logger().info(f"Switched to {self.ctrl_mode} control mode")
+
+
+        # CORE
+        if self.ctrl_mode == "core" and CORE_MODE == "duty":
+            input = CoreControl()
+            input.max_speed = 90
+
+            # Collect controller state
+            left_stick_y = deadzone(self.gamepad.get_axis(1))
+            right_stick_y = deadzone(self.gamepad.get_axis(4))
+            right_trigger = deadzone(self.gamepad.get_axis(5))
+
+
+            # Right wheels
+            input.right_stick = float(round(-1 * right_stick_y, 2))
+
+            # Left wheels
+            if right_trigger > 0:
+                input.left_stick = input.right_stick
+            else:
+                input.left_stick = float(round(-1 * left_stick_y, 2))
+
+
+            # Debug
+            output = f'L: {input.left_stick}, R: {input.right_stick}'
+            self.get_logger().info(f"[Ctrl] {output}")
+
+            self.core_publisher.publish(input)
+            self.arm_publisher.publish(ARM_STOP_MSG)
+            # self.bio_publisher.publish(BIO_STOP_MSG)
+        
+        elif self.ctrl_mode == "core" and CORE_MODE == "twist":
+            input = Twist()
+
+            # Collect controller state
+            left_stick_y = deadzone(self.gamepad.get_axis(1))
+            right_stick_x = deadzone(self.gamepad.get_axis(3))
+            button_a = self.gamepad.get_button(0)
+            left_bumper = self.gamepad.get_button(4)
+            right_bumper = self.gamepad.get_button(5)
+
+            # Forward/back and Turn
+            input.linear.x = -1.0 * left_stick_y
+            input.angular.z = -1.0 * right_stick_x ** 2  # Exponent for finer control (curve)
+
+            # Publish
+            self.core_twist_pub_.publish(input)
+            self.arm_publisher.publish(ARM_STOP_MSG)
+            # self.bio_publisher.publish(BIO_STOP_MSG)
+            self.get_logger().info(f"[Core Ctrl] Linear: {round(input.linear.x, 2)}, Angular: {round(input.angular.z, 2)}")
+
+            # Brake mode
+            new_brake_mode = button_a
+            # Max duty cycle
+            if left_bumper:
+                new_max_duty = 0.25
+            elif right_bumper:
+                new_max_duty = 0.9
+            else:
+                new_max_duty = 0.5
+
+            # Only publish if needed
+            if new_brake_mode != self.core_brake_mode or new_max_duty != self.core_max_duty:
+                self.core_brake_mode = new_brake_mode
+                self.core_max_duty = new_max_duty
+                state_msg = CoreCtrlState()
+                state_msg.brake_mode = bool(self.core_brake_mode)
+                state_msg.max_duty = float(self.core_max_duty)
+                self.core_state_pub_.publish(state_msg)
+                self.get_logger().info(f"[Core State] Brake: {self.core_brake_mode}, Max Duty: {self.core_max_duty}")
+
+
+        # ARM and BIO
+        if self.ctrl_mode == "arm":
+            arm_input = ArmManual()
+            
+            # Collect controller state
+            left_stick_x = deadzone(self.gamepad.get_axis(0))
+            left_stick_y = deadzone(self.gamepad.get_axis(1))
+            left_trigger = deadzone(self.gamepad.get_axis(2))
+            right_stick_x = deadzone(self.gamepad.get_axis(3))
+            right_stick_y = deadzone(self.gamepad.get_axis(4))
+            right_trigger = deadzone(self.gamepad.get_axis(5))
+            right_bumper = self.gamepad.get_button(5)
+            dpad_input = self.gamepad.get_hat(0)
+
+
+            # EF Grippers
+            if left_trigger > 0 and right_trigger > 0:
+                arm_input.gripper = 0
+            elif left_trigger > 0:
+                arm_input.gripper = -1
+            elif right_trigger > 0:
+                arm_input.gripper = 1
+
+            # Axis 0
+            if dpad_input[0] == 1:
+                arm_input.axis0 = 1
+            elif dpad_input[0] == -1:
+                arm_input.axis0 = -1
+
+
+            if right_bumper:  # Control end effector
+
+                # Effector yaw
+                if left_stick_x > 0:
+                    arm_input.effector_yaw = 1
+                elif left_stick_x < 0:
+                    arm_input.effector_yaw = -1
+
+                # Effector roll
+                if right_stick_x > 0:
+                    arm_input.effector_roll = 1
+                elif right_stick_x < 0:
+                    arm_input.effector_roll = -1
+
+            else:   # Control arm axis
+
+                # Axis 1
+                if abs(left_stick_x) > .15:
+                    arm_input.axis1 = round(left_stick_x)
+
+                # Axis 2
+                if abs(left_stick_y) > .15:
+                    arm_input.axis2 = -1 * round(left_stick_y)
+
+                # Axis 3
+                if abs(right_stick_y) > .15:
+                    arm_input.axis3 = -1 * round(right_stick_y)
+
+
+            # BIO
+            bio_input = BioControl(bio_arm=int(left_stick_y * -100), drill_arm=int(round(right_stick_y) * -100))
+
+            self.core_publisher.publish(CORE_STOP_MSG)
+            self.arm_publisher.publish(arm_input)
+            # self.bio_publisher.publish(bio_input)
+
+
+def deadzone(value: float, threshold=0.05) -> float:
+    """ Apply a deadzone to a joystick input so the motors don't sound angry """
+    if abs(value) < threshold:
+        return 0
+    return value
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = Headless()
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    signal.signal(signal.SIGTERM, lambda signum, frame: sys.exit(0))  # Catch termination signals and exit cleanly
+    main()

src/latency_tester/CMakeLists.txt

@@ -0,0 +1,27 @@
+cmake_minimum_required(VERSION 3.8)
+project(latency_tester)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+
+# Add embedded ping node
+add_executable(embedded_ping src/embedded_ping.cpp)
+ament_target_dependencies(embedded_ping rclcpp std_msgs)
+
+install(TARGETS
+  embedded_ping
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()

src/latency_tester/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>latency_tester</name>
+  <version>1.0.0</version>
+  <description>Tests latency in ASTRA's comms.</description>
+  <maintainer email="ds0196@uah.edu">David</maintainer>
+  <license>AGPL-3.0-only</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/latency_tester/src/embedded_ping.cpp

@@ -0,0 +1,104 @@
+#include <chrono>
+#include <functional>
+#include <memory>
+#include <string>
+#include <iomanip>
+#include <locale>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+using namespace std::chrono_literals;
+
+
+/**
+ * `input` into `args` separated by `delim`; equivalent to Python's `.split`;
+ * Example:  "ctrl,led,on" => `{"ctrl","led","on"}`
+ * @param input String to be separated
+ * @param delim char which separates parts of input
+ * @author David Sharpe, for ASTRA
+ * @deprecated Use function without delim parameter
+ */
+std::vector<std::string> split(const std::string& input, const char delim = ',');
+
+
+class LatencyTester : public rclcpp::Node
+{
+public:
+    LatencyTester()
+    : Node("latency_tester"), count_(0), target_mcu_("core")
+    {
+        publisher_ = this->create_publisher<std_msgs::msg::String>("/anchor/relay", 10);
+        timer_ = this->create_wall_timer(
+        1000ms, std::bind(&LatencyTester::timer_callback, this));
+        subscriber_ = this->create_subscription<std_msgs::msg::String>(
+            "/anchor/debug",
+            10,
+            std::bind(&LatencyTester::response_callback, this, std::placeholders::_1));
+    }
+
+private:
+    void timer_callback()  // Send ping to embedded at 1 Hz
+    {
+        auto message = std_msgs::msg::String();
+        message.data = "can_relay_tovic," + target_mcu_ + ",1," + std::to_string(count_++) + '\n';
+        publisher_->publish(message);
+        RCLCPP_INFO(this->get_logger(), "Sending ping #%ld to %s", count_, target_mcu_.c_str());
+        last_send_stamp_ = this->get_clock()->now();
+    }
+
+    void response_callback(const std_msgs::msg::String::SharedPtr msg)
+    {
+        auto now = this->now();
+        std::vector<std::string> args = split(msg->data, ',');
+        if (args.size() < 3 || args[0] != "can_relay_fromvic" || args[2] != "1")
+            return;
+
+        if (args[1] != target_mcu_) {
+            RCLCPP_INFO(this->get_logger(), "Received pong from different MCU: %s", args[1].c_str());
+            return;
+        }
+
+        // TODO: add topic for this so we can plot with MATLAB while using core/arm
+        RCLCPP_INFO(this->get_logger(), "Received pong from %s after %lf ms", target_mcu_.c_str(),
+                    (now - last_send_stamp_).nanoseconds() / 1000000.0);
+    }
+
+    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
+    rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscriber_;
+    rclcpp::TimerBase::SharedPtr timer_;
+    size_t count_;
+    rclcpp::Time last_send_stamp_;
+    std::string target_mcu_;
+};
+
+int main(int argc, char * argv[])
+{
+    rclcpp::init(argc, argv);
+    rclcpp::spin(std::make_shared<LatencyTester>());
+    rclcpp::shutdown();
+    return 0;
+}
+
+
+std::vector<std::string> split(const std::string& input, const char delim) {
+    // Modified from
+    // https://stackoverflow.com/questions/14265581/parse-split-a-string-in-c-using-string-delimiter-standard-c
+
+    std::vector<std::string> args;
+
+    // if empty input for some reason, don't do anything
+    if (input.length() == 0)
+        return args;
+
+    size_t last = 0;
+    size_t next = 0;
+    while ((next = input.find(delim, last)) != std::string::npos)
+    {
+        args.push_back(input.substr(last, next-last));
+        last = next + 1;
+    }
+    args.push_back(input.substr(last));
+
+    return args;
+}

systemd/anchor.service

@@ -0,0 +1,14 @@
+[Unit]
+Description=Anchor nodes for controlling the rover and its modules (rover-ros2)
+After=systemd-user-sessions.service
+Requires=systemd-user-sessions.service
+
+[Service]
+ExecStart=/home/clucky/rover-ros2/auto_start/auto_start_anchor.sh
+Restart=always
+RestartSec=5
+User=clucky
+Environment=PYTHONUNBUFFERED=1
+
+[Install]
+WantedBy=multi-user.target

systemd/astra_rosbag.service

@@ -0,0 +1,14 @@
+[Unit]
+Description=Record a rosbag on boot to /home/clucky/bags/
+After=systemd-user-sessions.service
+Requires=systemd-user-sessions.service
+
+[Service]
+ExecStart=/home/clucky/rover-ros2/auto_start/start_rosbag.sh
+Restart=always
+RestartSec=5
+User=clucky
+Environment=PYTHONUNBUFFERED=1
+
+[Install]
+WantedBy=multi-user.target

systemd/core_headless.service

@@ -0,0 +1,14 @@
+[Unit]
+Description=Autostart headless core node for controlling the rover without a base station
+After=systemd-user-sessions.service
+Requires=systemd-user-sessions.service
+
+[Service]
+ExecStart=/home/clucky/rover-ros2/auto_start/auto_start_core_headless.sh
+Restart=always
+RestartSec=10
+User=clucky
+Environment=PYTHONUNBUFFERED=1
+
+[Install]
+WantedBy=multi-user.target

systemd/headless_full.service

@@ -0,0 +1,14 @@
+[Unit]
+Description=Headless node to control Core and Arm
+After=systemd-user-sessions.service
+Requires=systemd-user-sessions.service
+
+[Service]
+ExecStart=/home/clucky/rover-ros2/auto_start/auto_start_headless_full.sh
+Restart=always
+RestartSec=10
+User=clucky
+Environment=PYTHONUNBUFFERED=1
+
+[Install]
+WantedBy=multi-user.target