python publisher for sdgps solution to hydrophone pings #1293
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cbrxyz
requested changes
Oct 21, 2024
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Hola, your friendly InvestiGator bot here with another message! Because this PR was closed/merged, I'm going to remove the docs preview for now. Have a great day! Go gators! 🐊 |
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This week, I made and committed the requested changes to my PR above, and cleaned up some error handling for the hydrophone publisher. I also attended today's testing session. |
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Rebased to remove the broken |
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Description
This PR creates a bash script pipeline for posting the sdgps ping solution message over TCP (fakeping_pipeline.sh creates a fake ping for testing, and pipeline.sh receives real hydrophone pings). Then, when running the python node ping_publisher.py, it will accept those TCP messages and publish them to the ROS node /ping for future use. These changes are part of the ROS package mil_passive_sonar.
Screenshot or Video
Related Issues
- Closes #1288
Testing
As shown in the image above, open three terminal windows (in tmux for ease of access). In one, run "rosrun mil_passive_sonar fakeping_pipeline.sh". In the next, run "rosrun mil_passive_sonar ping_publisher.py". In the final, use "rostopic echo /ping" to see the published ROS messages in the topic /ping.
I expect pipeline.sh to behave the same in place of fakeping_pipeline.sh, and intend to test with the boat at tomorrow's session.
About This PR