fix: I hate python (#21)

BioControl.drill expects an int, have to explicitly cast to an int or headless will crash
Makes main branch functional

.envrc

@@ -0,0 +1 @@
+use flake

.gitignore

@@ -11,3 +11,6 @@ log/
 
 #Pycache folder
 __pycache__/
+
+#Direnv
+.direnv/

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "src/ros2_interfaces_pkg"]
 	path = src/ros2_interfaces_pkg
-	url = git@github.com:SHC-ASTRA/ros2_interfaces_pkg.git
+	url = ../ros2_interfaces_pkg
+[submodule "src/astra_description"]
+	path = src/astra_descriptions
+	url = ../astra_descriptions

LICENSE

@@ -0,0 +1,661 @@
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+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE.  THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU.  SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+  16. Limitation of Liability.
+
+  IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+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 anchor_pkg 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 +1,74 @@
+{
+  description = "Development environment for ASTRA Anchor";
+
+  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 = with pkgs; [
+            colcon
+            (python312.withPackages (
+              p: with p; [
+                pyserial
+                pygame
+                scipy
+                crccheck
+                black
+              ]
+            ))
+            (
+              with rosPackages.humble;
+              buildEnv {
+                paths = [
+                  ros-core
+                  ros2cli
+                  ros2run
+                  ros2bag
+                  rviz2
+                  xacro
+                  ament-cmake-core
+                  python-cmake-module
+                  diff-drive-controller
+                  parameter-traits
+                  generate-parameter-library
+                  joint-state-publisher-gui
+                  robot-state-publisher
+                  ros2-control
+                  controller-manager
+                  # ros2-controllers nixpkg does not build :(
+                ];
+              }
+            )
+          ];
+          shellHook = ''
+            # Display stuff
+            export DISPLAY=''${DISPLAY:-:0}
+            export QT_X11_NO_MITSHM=1
+          '';
+        };
+      }
+    );
+
+  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 +7,86 @@ 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'
 
+        # Loop through all serial devices on the computer to check for the MCU
+        self.port = None
+        if port_override := os.getenv("PORT_OVERRIDE"):
+            self.port = port_override
+        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(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}!")
+                        break
+                except:
+                    pass
+
+        if self.port is None:
+            self.get_logger().info("Unable to find MCU...")
+            time.sleep(1)
+            sys.exit(1)
+
+        self.ser = serial.Serial(self.port, 115200)
+        self.get_logger().info(f"Enabling Relay Mode")
+        self.ser.write(b"can_relay_mode,on\n")
+        atexit.register(self.cleanup)
+
+        # New pub/sub with VicCAN
+        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)
@@ -32,39 +96,7 @@ class SerialRelay(Node):
         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)
-
-        # 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(4):
-            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)
+        self.relay_sub = self.create_subscription(String, '/anchor/relay', self.on_relay_tovic_string, 10)
 
 
     def run(self):
@@ -80,19 +112,22 @@ 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 +138,89 @@ 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) > 0 and parts[0] != "can_relay_fromvic":
+            self.get_logger().debug(f"Ignoring non-VicCAN message: '{msg.strip()}'")
+            return
+
+        # String validation
+        malformed: bool = False
+        malformed_reason: str = ""
+        if len(parts) < 3 or len(parts) > 7:
+            malformed = True
+            malformed_reason = f"invalid argument count (expected [3,7], got {len(parts)})"
+        elif parts[1] not in ["core", "arm", "digit", "citadel", "broadcast"]:
+            malformed = True
+            malformed_reason = f"invalid mcu_name '{parts[1]}'"
+        elif not(parts[2].isnumeric()) or int(parts[2]) < 0:
+            malformed = True
+            malformed_reason = f"command_id '{parts[2]}' is not a non-negative integer"
+        else:
+            for x in parts[3:]:
+                try:
+                    float(x)
+                except ValueError:
+                    malformed = True
+                    malformed_reason = f"data '{x}' is not a float"
+                    break
+
+        if malformed:
+            self.get_logger().warning(f"Ignoring malformed from_vic message: '{msg.strip()}'; reason: {malformed_reason}")
+            return
+
+        # Have valid VicCAN message
+
+        output = VicCAN()
+        output.mcu_name = parts[1]
+        output.command_id = int(parts[2])
+        if len(parts) > 3:
+            output.data = [float(x) for x in parts[3:]]
+        output.header = Header(stamp=self.get_clock().now().to_msg(), frame_id="from_vic")
+
+        # self.get_logger().info(f"Relaying from MCU: {output}")
+        if output.mcu_name == "core":
+            self.fromvic_core_pub_.publish(output)
+        elif output.mcu_name == "arm" or output.mcu_name == "digit":
+            self.fromvic_arm_pub_.publish(output)
+        elif output.mcu_name == "citadel" or output.mcu_name == "digit":
+            self.fromvic_bio_pub_.publish(output)
+
+
+    def on_relay_tovic_string(self, msg: String):
+        """ Relay a raw string message to the MCU for debugging """
         message = msg.data
         #self.get_logger().info(f"Sending command to MCU: {msg}")
         self.ser.write(bytes(message, "utf8"))
@@ -147,6 +250,6 @@ 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

@@ -5,9 +5,13 @@
   <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>common_interfaces</depend>
+  <depend>python3-serial</depend>
+
+  <build_depend>black</build_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

src/anchor_pkg/setup.py

@@ -1,4 +1,6 @@
 from setuptools import find_packages, setup
+from os import path
+from glob import glob
 
 package_name = 'anchor_pkg'
 
@@ -9,7 +11,8 @@ setup(
     data_files=[
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
-        ('share/' + package_name, ['package.xml']),
+        (path.join("share", package_name), ['package.xml']),
+        (path.join("share", package_name, "launch"), glob("launch/*"))
     ],
     install_requires=['setuptools'],
     zip_safe=True,

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))
@@ -271,22 +271,6 @@ class Headless(Node):
 
         
 
-    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}")
-
-        
-
 def main(args=None):
     rclpy.init(args=args)
 

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.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
 
@@ -205,10 +292,10 @@ class SerialRelay(Node):
         self.socket_pub.publish(self.arm_feedback)
         self.digit_pub.publish(self.digit_feedback)
 
-    def updateAngleFeedback(self, msg: String):
+    def updateAngleFeedback(self, msg: str):
         # Angle feedbacks,
         # split the msg.data by commas
-        parts = msg.data.split(",")
+        parts = msg.split(",")
         
         if len(parts) >= 7:
             # Extract the angles from the string
@@ -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]
@@ -255,24 +341,28 @@ class SerialRelay(Node):
         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...")
+        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

@@ -5,10 +5,14 @@
   <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>common_interfaces</depend>
+  <depend>python3-numpy</depend>
   <depend>ros2_interfaces_pkg</depend>
+  <!-- TODO: remove after refactored out -->
+  <exec_depend>python3-ikpy-pip</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_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...")
+        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

@@ -5,9 +5,10 @@
   <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>common_interfaces</depend>
   <depend>ros2_interfaces_pkg</depend>
 
   <test_depend>ament_copyright</test_depend>

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()
+        # 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()
-                exit()
+                    sys.exit(0)
+            time.sleep(1.0)  # Check every second
+            print("No gamepad found. Waiting...")
         
-        # Initialize the first gamepad, print name to terminal
+        # 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()
+                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.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:
             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

@@ -1,5 +1,7 @@
 import rclpy
 from rclpy.node import Node
+from rclpy import qos
+from rclpy.duration import Duration
 from std_srvs.srv import Empty
 
 import signal
@@ -7,46 +9,129 @@ import time
 import atexit
 
 import serial
+import os
 import sys
 import threading
 import glob
+from scipy.spatial.transform import Rotation
+from math import copysign, pi
+
+from std_msgs.msg import String, Header
+from sensor_msgs.msg import Imu, NavSatFix, NavSatStatus, JointState
+from geometry_msgs.msg import TwistStamped, Twist
+from ros2_interfaces_pkg.msg import CoreControl, CoreFeedback, RevMotorState
+from ros2_interfaces_pkg.msg import VicCAN, NewCoreFeedback, Barometer, CoreCtrlState
 
-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
 
+CORE_WHEELBASE = 0.836  # meters
+CORE_WHEEL_RADIUS = 0.171  # meters
+CORE_GEAR_RATIO = 100.0  # Clucky: 100:1, Testbed: 64:1
+
+control_qos = qos.QoSProfile(
+    history=qos.QoSHistoryPolicy.KEEP_LAST,
+    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)
+)
+
+# Used to verify the length of an incoming VicCAN feedback message
+# Key is VicCAN command_id, value is expected length of data list
+viccan_msg_len_dict = {
+    48: 1,
+    49: 1,
+    50: 2,
+    51: 4,
+    52: 4,
+    53: 4,
+    54: 4,
+    56: 4,  # really 3, but viccan
+    58: 4   # ditto
+}
+
+
 class SerialRelay(Node):
     def __init__(self):
         # Initalize node with name
-        super().__init__("core_node")#previously 'serial_publisher'
+        super().__init__("core_node")
 
-        # Get launch mode parameter
+        # 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}")
+        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)
+        ##################################################
+        # 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, 1)
+        # 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', qos_profile=qos.qos_profile_sensor_data)
+        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
+        # Joint states for topic-based controller
+        self.joint_state_pub_ = self.create_publisher(JointState, '/core/joint_states', qos_profile=qos.qos_profile_sensor_data)
+        # IMU (embedded BNO-055)
+        self.imu_pub_ = self.create_publisher(Imu, '/core/imu', qos_profile=qos.qos_profile_sensor_data)
+        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', qos_profile=qos.qos_profile_sensor_data)
+        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', qos_profile=qos.qos_profile_sensor_data)
+        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
@@ -58,7 +143,7 @@ class SerialRelay(Node):
                         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("\n")  # type: ignore
 
                         # if pong is in response, then we are talking with the MCU
                         if b"pong" in response:
@@ -79,6 +164,7 @@ class SerialRelay(Node):
         
             self.ser = serial.Serial(self.port, 115200)
             atexit.register(self.cleanup)
+        # end __init__()
 
 
     def run(self):
@@ -87,7 +173,6 @@ class SerialRelay(Node):
         thread = threading.Thread(target=rclpy.spin, args={self}, daemon=True)
         thread.start()
 
-    
         try:
             while rclpy.ok():
                 if self.launch_mode == 'core':
@@ -95,7 +180,7 @@ class SerialRelay(Node):
         except KeyboardInterrupt:
             sys.exit(0)
 
-    def read_MCU(self):
+    def read_MCU(self):  # NON-ANCHOR SPECIFIC
         try:
             output = str(self.ser.readline(), "utf8")
             
@@ -106,51 +191,24 @@ class SerialRelay(Node):
                 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)
+            sys.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)
+            sys.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)
+            sys.exit(1)
 
     def scale_duty(self, value: float, max_speed: float):
         leftMin = -1
@@ -158,7 +216,6 @@ class SerialRelay(Node):
         rightMin = -max_speed/100.0
         rightMax = max_speed/100.0
 
-
         # Figure out how 'wide' each range is
         leftSpan = leftMax - leftMin
         rightSpan = rightMax - rightMin
@@ -169,8 +226,7 @@ class SerialRelay(Node):
         # 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 
+    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:
@@ -182,7 +238,53 @@ class SerialRelay(Node):
         self.send_cmd(command)
 
         #print(f"[Sys] Relaying: {command}")
-    def send_cmd(self, msg):
+
+    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
@@ -192,42 +294,196 @@ class SerialRelay(Node):
             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(",")
-        #self.get_logger().info(f"[ANCHOR FEEDBACK parts] {parts}")
-        if output.startswith("can_relay_fromvic,core,48"): #GNSS Lattitude
+        # GNSS Latitude
+        if output.startswith("can_relay_fromvic,core,48"):
             self.core_feedback.gps_lat = float(parts[3])
-        elif output.startswith("can_relay_fromvic,core,49"):#GNSS Longitude
+        # GNSS Longitude
+        elif output.startswith("can_relay_fromvic,core,49"):
             self.core_feedback.gps_long = float(parts[3])
-        elif output.startswith("can_relay_fromvic,core,50"):#GNSS Satellite Count
+        # GNSS Satellite count and altitude
+        elif output.startswith("can_relay_fromvic,core,50"):
             self.core_feedback.gps_sats = round(float(parts[3]))
-        elif output.startswith("can_relay_fromvic,core,51"):#Gyro x,y,z
+            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]))
-        elif output.startswith("can_relay_fromvic,core,52"):#Accel x,y,z, heading *10
+        # 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]) / 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.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
-        elif output.startswith("can_relay_fromvic,core,56"):#BMP Temp, Altitude, Pressure
+        # 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
+
+        # Check message len to prevent crashing on bad data
+        if msg.command_id in viccan_msg_len_dict:
+            expected_len = viccan_msg_len_dict[msg.command_id]
+            if len(msg.data) != expected_len:
+                self.get_logger().warning(f"Ignoring VicCAN message with id {msg.command_id} due to unexpected data length (expected {expected_len}, got {len(msg.data)})")
+                return
+
+        match msg.command_id:
+            # GNSS
+            case 48:  # GNSS Latitude
+                self.gps_state.latitude = float(msg.data[0])
+            case 49:  # GNSS Longitude
+                self.gps_state.longitude = float(msg.data[0])
+            case 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
+            case 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
+            case 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
+            case 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
+                motor: RevMotorState | None = None
+                match motorId:
+                    case 1:
+                        motor = self.feedback_new_state.fl_motor
+                    case 2:
+                        motor = self.feedback_new_state.bl_motor
+                    case 3:
+                        motor = self.feedback_new_state.fr_motor
+                    case 4:
+                        motor = self.feedback_new_state.br_motor
+                    case _:
+                        self.get_logger().warning(f"Ignoring REV motor feedback 53 with invalid motorId {motorId}")
+                        return
+
+                if motor:
+                    motor.temperature = temp
+                    motor.voltage = voltage
+                    motor.current = current
+                    motor.header.stamp = msg.header.stamp
+
+                self.feedback_new_pub_.publish(self.feedback_new_state)
+            # Board voltage
+            case 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
+            case 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)
+            case 58:  # REV position and velocity
+                motorId = round(float(msg.data[0]))
+                position = float(msg.data[1])
+                velocity = float(msg.data[2])
+                joint_state_msg = JointState()  # TODO: not sure if all motors should be in each message or not
+                joint_state_msg.position = [position * (2 * pi) / CORE_GEAR_RATIO]  # revolutions to radians
+                joint_state_msg.velocity = [velocity * (2 * pi / 60.0) / CORE_GEAR_RATIO]  # RPM to rad/s
+
+                motor: RevMotorState | None = None
+
+                match motorId:
+                    case 1:
+                        motor = self.feedback_new_state.fl_motor
+                        joint_state_msg.name = ["fl_motor_joint"]
+                    case 2:
+                        motor = self.feedback_new_state.bl_motor
+                        joint_state_msg.name = ["bl_motor_joint"]
+                    case 3:
+                        motor = self.feedback_new_state.fr_motor
+                        joint_state_msg.name = ["fr_motor_joint"]
+                    case 4:
+                        motor = self.feedback_new_state.br_motor
+                        joint_state_msg.name = ["br_motor_joint"]
+                    case _:
+                        self.get_logger().warning(f"Ignoring REV motor feedback 58 with invalid motorId {motorId}")
+                        return
+
+                joint_state_msg.header.stamp = msg.header.stamp
+                self.joint_state_pub_.publish(joint_state_msg)
+            case _:
+                return
+
+
     def publish_feedback(self):
         #self.get_logger().info(f"[Core] {self.core_feedback}")
         self.feedback_pub.publish(self.core_feedback)
@@ -242,14 +498,20 @@ class SerialRelay(Node):
     
     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):
@@ -262,7 +524,6 @@ 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/core_pkg/package.xml

@@ -5,9 +5,12 @@
   <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>common_interfaces</depend>
+  <depend>python3-scipy</depend>
+  <depend>python-crccheck-pip</depend>
   <depend>ros2_interfaces_pkg</depend>
 
   <test_depend>ament_copyright</test_depend>

src/headless_pkg/package.xml

@@ -0,0 +1,23 @@
+<?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>common_interfaces</depend>
+  <depend>python3-pygame</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 +1,300 @@
+import rclpy
+from rclpy.node import Node
+from rclpy import qos
+from rclpy.duration import Duration
+
+import signal
+import time
+import atexit
+
+import os
+import sys
+import threading
+import glob
+from math import copysign
+
+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()
+        super().__init__("headless")
+
+        # Wait for anchor to start
+        pub_info = self.get_publishers_info_by_topic('/anchor/from_vic/debug')
+        while len(pub_info) == 0:
+            self.get_logger().info("Waiting for anchor to start...")
+            time.sleep(1.0)
+            pub_info = self.get_publishers_info_by_topic('/anchor/from_vic/debug')
+
+        # 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()}')
+
+        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 * copysign(right_stick_x ** 2, right_stick_x)  # 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)
+            )
+
+            # Drill motor (FAERIE)
+            if deadzone(left_trigger) > 0 or deadzone(right_trigger) > 0:
+                bio_input.drill = int(30 * (right_trigger - left_trigger))  # Max duty cycle 30%
+
+            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 3.22)
+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>common_interfaces</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