Implemented mock data node #453
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HAHAHAHAAHAHA |
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new CLI argument for boat_simulator: |
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Nice work so far! It would be great if you could also configure the mock data node using the |
src/boat_simulator/boat_simulator/nodes/mock_data/mock_data_node.py
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I have added the following parameters to and added logic so the node only publishes mock data to the topics that have a true value in we discussed in person that adding a parameter to specify the specific topics to publish too may be complex and take a long time to implement. So mock data node will only specifically publish to the |
| write_period_sec: 0.5 | ||
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| mock_data_node: |
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Please remove space here to group with the rest of the boat simulator parameters
| # based on following: | ||
| # https://docs.ros.org | ||
| # /en/humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Py-Publisher-And-Subscriber.html | ||
| # the purpose of this node is to publish to all topics that there is | ||
| # subscribers in physics engine node so send goal code can work. |
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Could you move this to a docstring for the MockDataNode class
| self.get_logger().info( | ||
| f"Publishing to {self.desired_heading_pub.topic} " | ||
| + f"a mock desired heading of {heading} degrees" | ||
| ) |
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No need for + here. https://stackoverflow.com/a/48881390
| self.get_logger().info( | ||
| f"Publishing to {self.sail_trim_tab_angle_pub.topic} " | ||
| + f"a mock trim tab angle of {trim_tab_angle_degrees} degrees" | ||
| ) |
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| def publish_mock_desired_heading(self): | ||
| """Publishes mock wind sensor data.""" | ||
| heading = random.uniform(-179.99, 180.0) |
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Could you please make the interval configurable through globals.yaml as well. This would make it easier to adjust on the fly and help avoid the need to rebuild the boat simulator package every time it's changed.
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| def publish_mock_sail_trim_tab_angle(self): | ||
| """Publishes mock wind sensor data.""" | ||
| trim_tab_angle_degrees = random.uniform(-40, 40) |
Description
Verification
enable-mock-data:=trueto ensure argument logic is correctResources