created parameter_manager_node

asv_setup/config/freya.yaml

@@ -0,0 +1,9 @@
+/parameter_manager_node:
+  ros__parameters:
+    configuration_matrix: "[[ 0.70711,   0.70711,   0.70711,   0.70711], [ -0.70711,  0.70711,   -0.70711,  0.70711], [ 0.27738,   0.27738,  -0.27738,  -0.27738]]" #NED #Surge #Sway #Yaw 
+    asv_thruster_manager_input: "thrust/desired_forces"  # 3DOF thrust vector
+    asv_thruster_manager_output: "thrust/thruster_forces"
+    asv_thruster_manager_wrench: "thrust/wrench_input"
+    joy_node: "joystick/joy"
+
+

asv_setup/launch/launch_to_erase.yaml

@@ -0,0 +1,10 @@
+launch:
+- node:
+    pkg: test_pkg
+    exec: test_node
+    name: parameter_manager_node
+    output: screen
+    param:
+    - from: /home/jade/ros2_ws/src/test_pkg/test_pkg/config/params.yaml
+
+

asv_setup/scripts/parameter_manager_node.py

@@ -0,0 +1,47 @@
+import rclpy
+from rclpy.node import Node
+import ast
+
+
+class ParameterManagerNode(Node):
+
+    def __init__(self):
+        super().__init__('parameter_manager_node')
+
+        self.get_logger().info("Parameter manager node is up and running")
+
+
+        #Declaration of parameters
+        self.declare_parameter('configuration_matrix',"")
+        self.declare_parameter('asv_thruster_manager_output',"")
+        self.declare_parameter('asv_thruster_manager_input',"")
+        self.declare_parameter('asv_thruster_manager_wrench',"")
+
+        self.configuration_matrix = self.get_parameter('configuration_matrix').value #Is a string because 2D Array is not supported as a ros2 param
+        self.asv_thruster_manager_output = self.get_parameter('asv_thruster_manager_output').value
+        self.asv_thruster_manager_input = self.get_parameter('asv_thruster_manager_input').value
+        self.asv_thruster_manager_wrench = self.get_parameter('asv_thruster_manager_wrench').value
+
+        self.configuration_matrix = StringInto2DArray(self.configuration_matrix)
+
+
+def StringInto2DArray(input_string):
+    two_d_array = ast.literal_eval(input_string)
+    if isinstance(two_d_array, list) and all(isinstance(row, list) for row in two_d_array):
+        return two_d_array
+    else:
+        print("The input string is not a valid 2D array.")
+
+
+def main():
+    rclpy.init()
+    parameter_manager_node = ParameterManagerNode()
+    test = parameter_manager_node.asv_thruster_manager_output
+    #rclpy.spin(joystick_interface)
+    #parameter_manager_node.destroy_node()
+    rclpy.shutdown()
+
+
+
+if __name__ == "__main__":
+    main()