Merge pull request #8 from rogy-AquaLab/fix

Fix

device/joystick/joystick/joystick.py

@@ -18,7 +18,7 @@ def __init__(self):
  self.get_logger().info(f"Using controller: {name}")
 
  def _timer_callback(self):
- self.get_logger().info("tick")
+ self.get_logger().debug("tick")
  pygame.event.pump()
 
  numaxes = self._joystick.get_numaxes()

device/nucleo_communicate_py/nucleo_communicate_py/receiver.py

@@ -1,10 +1,9 @@
 import sys
 
 import rclpy
-from rclpy.node import Node
 from packet_interfaces.msg import Current, Flex, Voltage
+from rclpy.node import Node
 from serial import Serial
-from std_msgs.msg import Header
 
 from .mutex_serial import MutexSerial
 
@@ -30,7 +29,7 @@ def receive_raw(self) -> tuple[int, int, int, int]:
  return (flex1, flex2, current, voltage)
 
  def map_values(
- flex1: int, flex2: int, current: int, voltage: int
+  self, flex1: int, flex2: int, current: int, voltage: int
  ) -> tuple[int, int, float, float]:
  # TODO: current, voltageの計算はnucleo側と要相談
  return (flex1, flex2, current / 0xFFFF, voltage / 0xFFFF)
@@ -52,15 +51,15 @@ def __init__(self, mutex_serial: MutexSerial) -> None:
  self._recv = Recv(mutex_serial)
 
  def _timer_callback(self) -> None:
- self.get_logger().trace("tick")
+ self.get_logger().debug("tick")
  flex1, flex2, current, voltage = self._recv.receive_raw()
  self.get_logger().info(f"received from nucleo: {flex1=}, {flex2=}, {current=}, {voltage=}")
  flex1, flex2, current, voltage = self._recv.map_values(flex1, flex2, current, voltage)
  self._flex1_publisher.publish(Flex(value=flex1))
  self._flex2_publisher.publish(Flex(value=flex2))
  # TODO: データのマッピングはnucleo側と相談
- self._current_publisher.publish(Flex(value=current))
- self._voltage_publisher.publish(Flex(value=voltage))
+ self._current_publisher.publish(Current(value=current))
+ self._voltage_publisher.publish(Voltage(value=voltage))
 
 
 def main(args=sys.argv):

device/pi_i2c/pi_i2c/depth.py

@@ -1,8 +1,8 @@
 import sys
 
 import rclpy
-from rclpy.node import Node
 from packet_interfaces.msg import Depth as DepthMsg
+from rclpy.node import Node
 
 
 class Depth(Node):
@@ -14,7 +14,7 @@ def __init__(self) -> None:
  def _timer_callback(self) -> None:
  # TODO
  # 深さセンサーからデータを取得してpublish
- self.get_logger().info("tick")
+ self.get_logger().debug("tick")
 
 
 def main(args=sys.argv):

device/pi_i2c/pi_i2c/imu.py

@@ -14,7 +14,7 @@ def __init__(self) -> None:
  def _timer_callback(self) -> None:
  # TODO
  # IMUからデータを取得してpublish
- self.get_logger().info("tick")
+ self.get_logger().debug("tick")
 
 
 def main(args=sys.argv):