1299 alexj boat drone comms

[alexoj46]

Description

This PR creates a ROSSerialDevice called DroneCommDevice which allows Navigator to communicate with the drone. Also, it adds a test-suite for simulated packets.

Screenshot or Video

Related Issues

- #1299

Testing

rosrun navigator_drone_comm test_simulated_drone.py

• This starts the test program.
• You should see a received GPSDronePacket and TargetPacket printed to the console immediately.

While "Testing receiving heartbeats for 5 secs..."

• You should see no outputted errors for missing heartbeat.

While the long test loop runs

• You should see error for no received heartbeat every second.
• Use ctrl Z to end execution.

To test services that send messages:

• Comment out lines in driver.py with “send_packet()”.
• Uncomment the print statements next to those lines.
• Now instead of freezing after sending packets, you will see print statements when messages would be sent to the drone.

Now, while the long test runs:

• Call the services below in a separate terminal to check that a message would be sent.
• Use ctrl c to end execution early.

rosservice call /test_simulated_drone/start “sample_mission”
rosservice call /test_simulated_drone/estop
rosservice call /test_simulated_drone/stop

About This PR

• I have updated documentation related to this change so that future members are aware of the changes I've made.