From 275b6258ec1f1c81488ac2667a35d320dab8f62a Mon Sep 17 00:00:00 2001
From: Jade Snr <jade.sonnier@orange.fr>
Date: Wed, 25 Oct 2023 11:33:08 +0200
Subject: [PATCH] the node is working and running, need to discuss how the
 other teams are going to get the parameters from it

---
 asv_setup/CMakeLists.txt                    | 15 ++++++++++++---
 asv_setup/launch/launch_to_erase.yaml       |  6 +++---
 asv_setup/package.xml                       | 12 ++++++++----
 asv_setup/scripts/__init__.py               |  0
 asv_setup/scripts/parameter_manager_node.py |  8 +++++---
 5 files changed, 28 insertions(+), 13 deletions(-)
 create mode 100644 asv_setup/scripts/__init__.py

diff --git a/asv_setup/CMakeLists.txt b/asv_setup/CMakeLists.txt
index 8a67f88d..2a1e9336 100644
--- a/asv_setup/CMakeLists.txt
+++ b/asv_setup/CMakeLists.txt
@@ -5,13 +5,22 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# find dependencies
-find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+
+ament_python_install_package(scripts)
 
 # Install launch files.
 install(DIRECTORY
   launch
-  DESTINATION share/${PROJECT_NAME}/
+  DESTINATION share/${PROJECT_NAME}
+)
+
+install(PROGRAMS
+  scripts/parameter_manager_node.py
+  DESTINATION lib/${PROJECT_NAME}
 )
 
 ament_package()
diff --git a/asv_setup/launch/launch_to_erase.yaml b/asv_setup/launch/launch_to_erase.yaml
index 3ee807f6..9a1c6772 100644
--- a/asv_setup/launch/launch_to_erase.yaml
+++ b/asv_setup/launch/launch_to_erase.yaml
@@ -1,10 +1,10 @@
 launch:
 - node:
-    pkg: test_pkg
-    exec: test_node
+    pkg: asv_setup
+    exec: parameter_manager_node.py
     name: parameter_manager_node
     output: screen
     param:
-    - from: /home/jade/ros2_ws/src/test_pkg/test_pkg/config/params.yaml
+    - from: /home/jade/ros2_vortex_ws/src/vortex-asv/asv_setup/config/freya.yaml
     
        
diff --git a/asv_setup/package.xml b/asv_setup/package.xml
index 97057113..39ea37e8 100644
--- a/asv_setup/package.xml
+++ b/asv_setup/package.xml
@@ -4,13 +4,17 @@
   <name>asv_setup</name>
   <version>0.0.0</version>
   <description>The asv_setup package</description>
+  
   <maintainer email="aleksander.klu@hotmail.com">alekskl01</maintainer>
+  
   <license>MIT</license>
+  
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
+  
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/asv_setup/scripts/__init__.py b/asv_setup/scripts/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/asv_setup/scripts/parameter_manager_node.py b/asv_setup/scripts/parameter_manager_node.py
index 30fb80b4..1275d6be 100644
--- a/asv_setup/scripts/parameter_manager_node.py
+++ b/asv_setup/scripts/parameter_manager_node.py
@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 import rclpy
 from rclpy.node import Node
 import ast
@@ -36,12 +37,13 @@ def StringInto2DArray(input_string):
 def main():
     rclpy.init()
     parameter_manager_node = ParameterManagerNode()
-    test = parameter_manager_node.asv_thruster_manager_output
+    test = parameter_manager_node.configuration_matrix
+    print(test)
     #rclpy.spin(joystick_interface)
-    #parameter_manager_node.destroy_node()
+    parameter_manager_node.destroy_node()
     rclpy.shutdown()
 
 
 
 if __name__ == "__main__":
-    main()
\ No newline at end of file
+    main()