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fixing topic names
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TiaSinghania committed Jan 9, 2025
1 parent dced807 commit d736ce9
Showing 1 changed file with 17 additions and 17 deletions.
34 changes: 17 additions & 17 deletions rb_ws/src/buggy/buggy/serial/ros_to_bnyahaj.py
Original file line number Diff line number Diff line change
Expand Up @@ -37,9 +37,9 @@ def __init__(self, teensy_name):
self.lock = Lock()

self.create_subscription(
Float64, self_name + "/input/steering", self.set_steering, 1
Float64, "/input/steering", self.set_steering, 1
)
self.create_subscription(Int8, self_name + "/input/sanity_warning", self.set_alarm, 1)
self.create_subscription(Int8, "/input/sanity_warning", self.set_alarm, 1)

# upper bound of steering update rate, make sure auton sends slower than 500 Hz or update / 2ms
self.steer_send_rate = self.create_rate(500)
Expand All @@ -49,45 +49,45 @@ def __init__(self, teensy_name):

# DEBUG MESSAGE PUBLISHERS:
self.heading_rate_publisher = self.create_publisher(
Float64, self_name + "/debug/heading_rate", 1
Float64, "/debug/heading_rate", 1
)
self.encoder_angle_publisher = self.create_publisher(
Float64, self_name + "/debug/encoder_angle", 1
Float64, "/debug/encoder_angle", 1
)
self.rc_steering_angle_publisher = self.create_publisher(
Float64, self_name + "/debug/rc_steering_angle", 1
Float64, "/debug/rc_steering_angle", 1
)
self.software_steering_angle_publisher = self.create_publisher(
Float64, self_name + "/debug/software_steering_angle", 1
Float64, "/debug/software_steering_angle", 1
)
self.true_steering_angle_publisher = self.create_publisher(
Float64, self_name + "/debug/true_steering_angle", 1
Float64, "/debug/true_steering_angle", 1
)
self.rfm69_timeout_num_publisher = self.create_publisher(
Int32, self_name + "/debug/rfm_timeout_num", 1
Int32, "/debug/rfm_timeout_num", 1
)
self.operator_ready_publisher = self.create_publisher(
Bool, self_name + "/debug/operator_ready", 1
Bool, "/debug/operator_ready", 1
)
self.brake_status_publisher = self.create_publisher(
Bool, self_name + "/debug/brake_status", 1
Bool, "/debug/brake_status", 1
)
self.use_auton_steer_publisher = self.create_publisher(
Bool, self_name + "/debug/use_auton_steer", 1
Bool, "/debug/use_auton_steer", 1
)
self.tx12_state_publisher = self.create_publisher(
Bool, self_name + "/debug/tx12_connected", 1
Bool, "/debug/tx12_connected", 1
)
self.stepper_alarm_publisher = self.create_publisher(
UInt8, self_name + "/debug/steering_alarm", 1
UInt8, "/debug/steering_alarm", 1
)
self.rc_uplink_qual_publisher = self.create_publisher(
UInt8, self_name + "/debug/rc_uplink_quality", 1
UInt8, "/debug/rc_uplink_quality", 1
)

# SERIAL DEBUG PUBLISHERS
self.roundtrip_time_publisher = self.create_publisher(
Float64, self_name + "/debug/roundtrip_time", 1
Float64, "/debug/roundtrip_time", 1
)

if self.self_name == "NAND":
Expand Down Expand Up @@ -115,10 +115,10 @@ def __init__(self, teensy_name):
if self.self_name == "SC":
# SC SENSOR PUBLISHERS
self.sc_velocity_publisher = self.create_publisher(
Float64, "SC/sensors/velocity", 1
Float64, "/sensors/velocity", 1
)
self.sc_steering_angle_publisher = self.create_publisher(
Float64, "SC/sensors/steering_angle", 1
Float64, "/sensors/steering_angle", 1
)

self.observed_nand_odom_publisher = self.create_publisher(
Expand Down

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