added subscriber and fixed

rb_ws/src/buggy/buggy/watchdog/watchdog_node.py

@@ -25,18 +25,27 @@ def loop(self):
         msg.data = True
         self.heartbeat_publisher.publish(msg) 
 
+    def heartbeat_listener(self, msg : Node):
+        """
+        Subscriber Function that checks if Heartbeat is ever alse
+        It never actually is false, this is just a demonstration of a subscriber
+        If it ever actually is false, something cursed has happened
+        """
+        if msg.data == False:
+            self.get_logger().error("Hearbeat Failed!")
+
 
 def main(args=None):
     rclpy.init(args=args)
 
-    minimal_publisher = Watchdog()
+    watchdog = Watchdog()
 
-    rclpy.spin(minimal_publisher)
+    rclpy.spin(watchdog)
 
     # Destroy the node explicitly
     # (optional - otherwise it will be done automatically
     # when the garbage collector destroys the node object)
-    minimal_publisher.destroy_node()
+    watchdog.destroy_node()
     rclpy.shutdown()
 
 

rb_ws/src/buggy/setup.py

@@ -13,7 +13,7 @@
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
-        (os.path.join("share", package_name), glob("launch/*.xml")),
+        (os.path.join("share", package_name), glob("launch/*.xml"))
     ],
     install_requires=['setuptools'],
     zip_safe=True,
@@ -28,4 +28,4 @@
             'watchdog = buggy.watchdog.watchdog_node:main'
         ],
     },
-)
+)