resolving comments

src/boat_simulator/boat_simulator/nodes/mock_data/mock_data_node.py

@@ -7,15 +7,19 @@
 
 import boat_simulator.common.constants as Constants
 
-# 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.
 
 
 class MockDataNode(Node):
-
+    """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.
+    
+    based on following:
+    https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Py-Publisher-And-Subscriber.html
+
+     Publishers:
+        desired_heading_pub (Publisher): Publishes GPS data in a `GPS` message.
+        wind_sensors_pub (Publisher): Publishes mock desired heading data in a `DesiredHeading` message.
+        sail_trim_tab_angle_pub (Publisher): Publishes mock sail trim tab angle data in a `SailCmd` message
+    """
     def __init__(self):
         super().__init__("mock_data")
         self.__declare_ros_parameters()
@@ -47,6 +51,10 @@ def __declare_ros_parameters(self):
                 ("mock_sail_trim_tab", rclpy.Parameter.Type.BOOL),
                 ("mock_desired_heading", rclpy.Parameter.Type.BOOL),
                 ("qos_depth", rclpy.Parameter.Type.INTEGER),
+                ("mock_desired_heading_lower_bound", rclpy.Parameter.Type.DOUBLE),
+                ("mock_desired_heading_upper_bound", rclpy.Parameter.Type.DOUBLE),
+                ("mock_sail_trim_tab_lower_bound", rclpy.Parameter.Type.DOUBLE),
+                ("mock_sail_trim_tab_upper_bound", rclpy.Parameter.Type.DOUBLE)
             ],
         )
 
@@ -63,7 +71,7 @@ def timer_callback(self):
 
     def publish_mock_desired_heading(self):
         """Publishes mock wind sensor data."""
-        heading = random.uniform(-179.99, 180.0)
+        heading = random.uniform(self.mock_desired_heading_lower_bound, self.mock_desired_heading_upper_bound)
 
         helper_heading = HelperHeading()
         helper_heading.heading = heading
@@ -73,21 +81,21 @@ def publish_mock_desired_heading(self):
 
         self.desired_heading_pub.publish(msg)
         self.get_logger().info(
-            f"Publishing to {self.desired_heading_pub.topic} "
-            + f"a mock desired heading of {heading} degrees"
+            f'Publishing to {self.desired_heading_pub.topic} '
+            f'a mock desired heading of {heading} degrees'
         )
 
     def publish_mock_sail_trim_tab_angle(self):
         """Publishes mock wind sensor data."""
-        trim_tab_angle_degrees = random.uniform(-40, 40)
+        trim_tab_angle_degrees = random.uniform(self.mock_sail_trim_tab_lower_bound, self.mock_sail_trim_tab_upper_bound)
 
         msg = SailCmd()
         msg.trim_tab_angle_degrees = trim_tab_angle_degrees
 
         self.sail_trim_tab_angle_pub.publish(msg)
         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"
+            f'Publishing to {self.sail_trim_tab_angle_pub.topic} '
+            f'a mock trim tab angle of {trim_tab_angle_degrees} degrees'
         )
 
     @property

src/global_launch/config/README.md

@@ -333,20 +333,44 @@ corresponding correct type as the second string.
 - _Datatype_: `int`
 - _Range_: `[1, MAX_INT)`
 
-**`pub_period_sec`**
-
-- _Description_: The period at which the publishers publish.
-- _Datatype_: `double`
-- _Range_: `(0.0, MAX_DOUBLE)`
-
 **`mock_desired_heading`**
 
 - _Description_: Set to True if mock data for desired heading should be generated. False otherwise.
 - _Datatype_: `bool`
 - _Range_: `(True, False)`
+
+**`mock_desired_heading_lower_bound`**
+
+- _Description_: Gives a lower bound for randomizing desired heading values. This value should be less than `mock_desired_heading_upper_bound`.
+- _Datatype_: `double`
+- _Range_: `(-MAX_DOUBLE, MAX_DOUBLE)`
+
+**`mock_desired_heading_upper_bound`**
+
+- _Description_: Gives a upper bound for randomizing desired heading values. This value should be greater than `mock_desired_heading_upper_bound`.
+- _Datatype_: `double`
+- _Range_: `(-MAX_DOUBLE, MAX_DOUBLE)`
 
 **`mock_sail_trim_tab`**
 
 - _Description_: Set to True if mock data for sail trim tab should be generated. False otherwise.
 - _Datatype_: `bool`
 - _Range_: `(True, False)`
+
+**`mock_sail_trim_tab_lower_bound`**
+
+- _Description_: Gives a lower bound for randomizing sail trim tab values. This value should be less than `mock_sail_trim_tab_upper_bound`.
+- _Datatype_: `double`
+- _Range_: `(-MAX_DOUBLE, MAX_DOUBLE)`
+
+**`mock_sail_trim_tab_upper_bound`**
+
+- _Description_: Gives a upper bound for randomizing sail trim tab values. This value should be greater than `mock_sail_trim_tab_lower_bound`.
+- _Datatype_: `double`
+- _Range_: `(-MAX_DOUBLE, MAX_DOUBLE)`
+
+**`pub_period_sec`**
+
+- _Description_: The period at which the publishers publish.
+- _Datatype_: `double`
+- _Range_: `(0.0, MAX_DOUBLE)`

src/global_launch/config/globals.yaml

@@ -76,10 +76,13 @@ data_collection_node:
       bag: false
       json: true
       write_period_sec: 0.5
-
 mock_data_node:
    ros__parameters:
       qos_depth: 10
       mock_desired_heading: True
+      mock_desired_heading_lower_bound: -179.99
+      mock_desired_heading_upper_bound: 180.00
       mock_sail_trim_tab: True
+      mock_sail_trim_tab_lower_bound: -40.0
+      mock_sail_trim_tab_desired_heading_upper_bound: 40
       pub_period_sec: 5.0