published nand gps seqnum/time when recieved

rb_ws/src/buggy/buggy/serial/ros_to_bnyahaj.py

@@ -4,7 +4,7 @@
 import rclpy
 from rclpy import Node
 
-from std_msgs.msg import Float64, Int8, Int32, UInt8, Bool
+from std_msgs.msg import Float64, Int8, Int32, UInt8, Bool, UInt64
 from host_comm import *
 from nav_msgs.msg import Odometry
 
@@ -101,6 +101,12 @@ def __init__(self, teensy_name):
         self.nand_gps_acc_publisher = self.create_publisher(
             Float64, "NAND/debug/gps_accuracy", 1
         )
+        self.nand_gps_seqnum_publisher = self.create_publisher(
+            Int32, "NAND/debug/gps_seqnum", 1
+        )
+        self.nand_gps_time_publisher = self.create_publisher(
+            UInt64, "NAND/debug/gps_time", 1
+        )
 
         # SC SENSOR PUBLISHERS
         self.sc_velocity_publisher = self.create_publisher(
@@ -204,6 +210,8 @@ def reader_thread(self):
                 self.nand_gps_odom_publisher.publish(odom)
                 self.nand_gps_fix_publisher.publish(packet.gps_fix)
                 self.nand_gps_acc_publisher.publish(packet.accuracy)
+                self.nand_gps_seqnum_publisher.publish(packet.gps_seqnum)
+                self.nand_gps_time_publisher.publish(packet.gps_time)
 
             elif isinstance(packet, Radio):