Tested and working, need some checking with service autostart file. A…

…fter that just need to scale upp loging to start loging everything, jsut some repetitive work, thats it. Rest is good, tested and runing :D

mission/blackbox/blackbox/blackbox_log_data.py

@@ -35,7 +35,7 @@ def __init__(self,
             writer.writerow(self.csv_headers)
 
     # Methods for inside use of the class ----------
-    def manage_csv_files(self, max_file_age_in_days=1, max_size_kb=3_000):         #adjust the max size before you start deleting old files (1 000 000 kb = 1 000 mb = 1 gb)
+    def manage_csv_files(self, max_file_age_in_days=1, max_size_kb=3_000_000):         #adjust the max size before you start deleting old files (1 000 000 kb = 1 000 mb = 1 gb)
         current_time = datetime.now()
         older_than_time = current_time - timedelta(days=max_file_age_in_days)
 

mission/blackbox/blackbox/blackbox_node.py

@@ -1,3 +1,31 @@
+"""
+TODO
+From Martynas:
+To Rose:
+Add data recording for these ROS2 topics:
+
+MOST IMPORTANT:
+'/internal/status/bms0',
+'/internal/status/bms1',
+'/asv/temperature/ESC1',
+'/asv/temperature/ESC2',
+'/asv/temperature/ESC3',
+'/asv/temperature/ESC4',
+'/asv/temperature/ambient1',
+'/asv/temperature/ambient2',
+'/thrust/thruster_forces',
+'/pwm',
+
+Nice to have:
+'/joy',                               
+'/joystick/joy',
+'/thrust/wrench_input',
+'/controller/lqr/enable',
+'/tf',
+'/tf_static'
+"""
+
+
 # ROS2 Libraries
 import rclpy
 from rclpy.node import Node

mission/blackbox/launch/blackbox.launch.py

@@ -0,0 +1,12 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='blackbox',
+            namespace='blackbox',
+            executable='blackbox_node',
+            name='blackbox_node'
+        ),
+    ])

mission/blackbox/setup.py

@@ -1,3 +1,5 @@
+import os
+from glob import glob
 from setuptools import find_packages, setup
 
 package_name = 'blackbox'
@@ -10,6 +12,8 @@
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
+
+        (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*'))),
     ],
     install_requires=['setuptools'],
     zip_safe=True,

mission/blackbox_backup/blackbox_startup.service → mission/blackbox/startup_scripts/blackbox.service

@@ -1,10 +1,10 @@
 [Unit]
-Description=Launch recording of ROS 2 data
+Description=Launch internal status node
 After=network.target
 
 [Service]
 # Use the wrapper script for ExecStart
-ExecStart=/bin/bash <path-to-home-directory>/<your-worskpace-name>/src/vortex-asv/mission/blackbox/blackbox.sh
+ExecStart=/bin/bash <home directory>/<username>/<workspace>/src/vortex-asv/mission/blackbox/startup_scripts/blackbox.sh
 WorkingDirectory=/home/vortex/
 StandardOutput=journal+console
 User=vortex

mission/blackbox/startup_scripts/blackbox.sh

@@ -0,0 +1,7 @@
+# Determine the directory where the script is located
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
+
+cd $SCRIPT_DIR
+cd ../../../../.. # Go back to workspace 
+source install/setup.bash
+ros2 launch blackbox blackbox.launch.py