From 9ab7370baa18c3d2bdf431e937c23465fbda1c61 Mon Sep 17 00:00:00 2001 From: TiaSinghania Date: Wed, 8 Jan 2025 23:09:03 -0800 Subject: [PATCH] published nand gps seqnum/time when recieved --- rb_ws/src/buggy/buggy/serial/ros_to_bnyahaj.py | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/rb_ws/src/buggy/buggy/serial/ros_to_bnyahaj.py b/rb_ws/src/buggy/buggy/serial/ros_to_bnyahaj.py index 0952529..c634000 100644 --- a/rb_ws/src/buggy/buggy/serial/ros_to_bnyahaj.py +++ b/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):