Add switchbot status publisher

[y-yosuke]

• add codes for publishing SwitchBot device statuses
• mod switchbot_ros_client.py with adding wait_for_server() after creating the action client for stability

[sktometometo]

Basically it is nice to check if action server is active.
But there are some cases that user want to launch this type of client before action server is launched.
And currently this client assumes that initialization of client class has finished even action server is inactive and we want to preserve default behavior of our code so that our robot demonstration works without changing code.

So could you add timeout args to __init__ and set some limited default to it (e.g. '5' or so on) and use it here?

[y-yosuke]

I changed timeout in wait_for_server() as an additional __init()__ argment with 5 [sec] default value.

    def __init__(self,
                 actionname='switchbot_ros/switch',
                 topicname='switchbot_ros/devices',
                 timeout=5):

        rospy.loginfo("Waiting for action server to start. (timeout: " + str(timeout) + "[sec])")
        self.action_client.wait_for_server(timeout=rospy.Duration(timeout,0))

[sktometometo]

How about bool instead of string?

[y-yosuke]

I changed the type to bool.

[sktometometo]

Could you add candidates constants of this field to this message like https://docs.ros.org/en/noetic/api/visualization_msgs/html/msg/Marker.html ?

string DEVICEMODE_PRESS = "pressMode"

or something like that.

[y-yosuke]

I added 3 candedate constants as

string DEVICEMODE_PRESS     = "pressMode"
string DEVICEMODE_SWITCH    = "switchMode"
string DEVICEMODE_CUSTOMIZE = "customizeMode"

[sktometometo]

bool suggestion like above.

[y-yosuke]

I changed the type to bool.

[sktometometo]

How about split this field into color_r, color_g, color_b integers instead of string so that we can easily set value to here. There are some languages that do not support rich string manipulation.

[y-yosuke]

I split color int color_r, color_g and color_b.

                        rgb_string       = status['color']
                        r, g, b = map(int, rgb_string.split(':'))
                        msg.color_r      = r
                        msg.color_g      = g
                        msg.color_b      = b

[sktometometo]

LGTM. Thanks for your contribution!.

[y-yosuke]

Thanks for your review.