Finalized ROS2 Node, only testing left :)

asv_setup/config/robots/freya.yaml

@@ -41,9 +41,12 @@
 
         rate_of_change:
           max: 0 # Maximum rate of change in newton per second for a thruster
-        thruster_to_pin_map: [3, 2, 1, 0] # I.e. if thruster_to_pin = [1, 3, 2, 0] then thruster 0 is pin 1 etc..
-        direction: [1,-1,-1, 1] # Disclose during thruster mapping
-        offset: [0, 0, 0, 0] # Disclose during thruster mapping
+
+        thruster_to_pin_mapping: [0, 3, 2, 1] # I.e. if thruster_to_pin = [1, 3, 2, 0] then thruster 0 is pin 1 etc..
+        thruster_direction: [1, -1, 1, 1] # Disclose during thruster mapping (+/- 1)
+        thruster_PWM_offset: [0, 0, 0, 0] # Disclose during thruster mapping, Recomended: [0, 0, 0, 0]
+        thruster_PWM_min: [1100, 1100, 1100, 1100] # Minimum PWM value, Recomended: [1100, 1100, 1100, 1100]
+        thruster_PWM_max: [1900, 1900, 1900, 1900] # Maximum PWM value, Recomended: [1900, 1900, 1900, 1900]
       command:
         wrench:
           max:     [150.0, 150.0, 150.0, 150.0, 150.0, 150.0]

motion/thruster_interface_asv/include/thruster_interface_asv/thruster_interface_asv_driver_lib.hpp

@@ -1,19 +1,20 @@
 // C++ Libraries
-#include <algorithm>
-#include <fstream>
-#include <iostream>
-#include <sstream>
 #include <stdint.h>
 #include <string>
 #include <vector>
+#include <fstream>
+#include <sstream>
+#include <iostream>
+#include <algorithm>
 
-#include <fcntl.h>         // Used for the O_RDWR define
+#include <fcntl.h>      // Used for the O_RDWR define
 #include <linux/i2c-dev.h> // Used for the I2C_SLAVE define
 #include <sys/ioctl.h>
-#include <unistd.h> // Used for the close function
+#include <unistd.h>     // Used for the close function
+
 
 // Declare functions we can use
 namespace thruster_interface_asv_driver_lib {
-void init(const std::string &pathToCSVFile, int16_t *minPWM, int16_t *maxPWM);
-int16_t *drive_thrusters(float *forces);
-} // namespace thruster_interface_asv_driver_lib
+    void init(const std::string& pathToCSVFile, int8_t* thrusterMapping, int8_t* thrusterDirection, int16_t* offsetPWM, int16_t* minPWM, int16_t* maxPWM);
+    int16_t* drive_thrusters(float* thrusterForces);
+}

motion/thruster_interface_asv/include/thruster_interface_asv/thruster_interface_asv_node.hpp

@@ -1,9 +1,13 @@
+// C++ Libraries
+#include <vector>
+
 // ROS2 libraries
-#include <ament_index_cpp/get_package_share_directory.hpp>
-#include <chrono> // For the ROS2 Timer clock
 #include <rclcpp/rclcpp.hpp>
 #include <std_msgs/msg/float32_multi_array.hpp>
 #include <std_msgs/msg/int16_multi_array.hpp>
+#include <ament_index_cpp/get_package_share_directory.hpp>
+#include <chrono> // For the ROS2 Timer clock
 
 // Custom libraries
 #include <thruster_interface_asv/thruster_interface_asv_driver_lib.hpp>
+

motion/thruster_interface_asv/launch/thruster_interface_asv.launch.py

@@ -0,0 +1,24 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+import os
+
+def generate_launch_description():
+    # Path to the YAML file
+    yaml_file_path = os.path.join(
+        get_package_share_directory("thruster_interface_asv"),
+        "../../../../",  # Go to the workspace
+        "src/vortex-asv/asv_setup/config/robots/", # Go inside where yamal files are located at
+        "freya.yaml"
+    )
+
+    return LaunchDescription([
+        Node(
+            package='thruster_interface_asv',
+            namespace='thruster_interface_asv',
+            executable='thruster_interface_asv_node',
+            name='thruster_interface_asv_node',
+            output='screen',
+            parameters=[yaml_file_path],
+        ),
+    ])

motion/thruster_interface_asv/package.xml

@@ -17,6 +17,8 @@
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
 
+  <exec_depend>ros2launch</exec_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>