added feather code

.env.prod

@@ -3,3 +3,4 @@ GPS_PORT_AUX=/dev/null
 WEBCAM_PORT=/dev/null
 RLSENSE_PORT=/dev/bus/usb
 TEENSY_PORT=/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_AD01TF04-if00-port0
+FEATHER_PORT=/dev/serial/by-id/usb-Adafruit_Adafruit_Feather_M0_77D70E005154384153202020FF18250B-if00

docker-compose.yml

@@ -9,6 +9,7 @@ services:
       - "${TEENSY_PORT:-/dev/null}:/dev/ttyUSB0"
       - "${WEBCAM_PORT:-/dev/null}:/dev/ttyUSB1"
       - "${GPS_PORT:-/dev/null}:/dev/ttyACM0"
+      - "${FEATHER_PORT:-/dev/null}:/dev/ttyACM1"
     stdin_open: true # docker run -i
     tty: true        # docker run -t
     environment:

rb_ws/src/buggy/INS_params.yml

@@ -95,7 +95,7 @@ raw_file_directory : "/home/your_name"
 # ****************************************************************** 
 # IMU Settings 
 # ****************************************************************** 
-imu_data_rate : 30
+imu_data_rate : 100
 
 # The speed at which the individual IMU publishers will publish at.
 #      If set to -1, will use imu_data_rate to determine the rate at which to stream and publish
@@ -115,7 +115,7 @@ imu_angular_cov     : [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]
 # ****************************************************************** 
 # GNSS Settings (only applicable for devices with GNSS) 
 # ****************************************************************** 
-gnss1_data_rate : 30
+gnss1_data_rate : 100
 
 # The speed at which the individual GNSS1 publishers will publish at.
 #      If set to -1, will use gnss1_data_rate to determine the rate at which to stream and publish
@@ -138,7 +138,7 @@ gnss1_rf_error_detection_data_rate : -1  # Rate of gnss1/rf_error_detection topi
 gnss1_antenna_offset : [-0.127, 0.127, 0.0]
 
 # GNSS2 settings are only applicable for multi-GNSS systems (e.g. GQ7) 
-gnss2_data_rate : 30
+gnss2_data_rate : 100
 
 # The speed at which the individual GNSS2 publishers will publish at.
 #      If set to -1, will use gnss2_data_rate to determine the rate at which to stream and publish
@@ -164,7 +164,7 @@ gnss2_antenna_offset : [0.597, 0.127, 0.0]
 rtk_dongle_enable : False
 
 # Speed at which RTK data will be published if an individual topic data rate is not specified
-rtk_data_rate: 30
+rtk_data_rate: 100
 
 # The speed at which the individual RTK publishers will publish at.
 #      If set to 0, the stream will be turned off and the publisher will not be created
@@ -184,7 +184,7 @@ publish_nmea   : False
 # ****************************************************************** 
 # Kalman Filter Settings (only applicable for devices with a Kalman Filter) 
 # ****************************************************************** 
-filter_data_rate : 30
+filter_data_rate : 100
 
 # The speed at which the individual Filter publishers will publish at.
 #      If set to -1, will use filter_data_rate to determine the rate at which to stream and publish

rb_ws/src/buggy/launch/main.launch

@@ -18,11 +18,15 @@
         <param name="port" type="string" value="/dev/ttyUSB0"/>
         <param name="baud" type="int" value="1000000"/>
     </node>
+    <node name="serial_node2" pkg="rosserial_python" type="serial_node.py">
+        <param name="port" type="string" value="/dev/ttyACM1"/>
+        <param name="baud" type="int" value="115200"/>
+    </node>
     <node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" />
     <node name="asset_server" pkg="buggy" type="asset_server.py" args="--directory='/rb_ws/src/buggy/assets'" />
     <node name="asset_publish" pkg="buggy" type="asset_publish.py" />
     <node name="telematics" pkg="buggy" type="telematics.py" />
 
     <!-- ENABLE AUTON -->
     <node name="auton_system" pkg="buggy" type="autonsystem.py" output="screen" args="$(arg controller)"/>
-</launch>
+</launch>

setup_prod.sh

@@ -8,3 +8,4 @@ sleep 0.5
 
 echo "DEBUG: Buggy Docker Container Up!"
 echo "Run docker_exec in order to go into the Docker container"
+