fixed some stuff and added launch file

sensors/bms/bms/freya_bms.py

@@ -56,7 +56,7 @@ def __init__(self, usb_port: str = None) -> None:
             self._usb_port = usb_port
             self._command = ["jbdtool", "-t", f"serial:/dev/{self._usb_port}"]
         else:
-            print("Querying for USB devices...")
+            print("Looking for USB devices...")
             devices = subprocess.check_output(["ls", "/dev"], text=True).split("\n")
             usb_devices = [device for device in devices if device[:6] == "ttyUSB"]
 
@@ -70,7 +70,7 @@ def __init__(self, usb_port: str = None) -> None:
 
                 if i == len(usb_devices) - 1:
                     raise Exception("No USB device was found. Ensure that battery pack is connected to Raspberry Pi")
-                    
+
         self._voltage = 0
         self._current = 0
         self._design_capacity = 0
@@ -198,7 +198,7 @@ def voltage(self):
     def current(self):
         return self._current
 
-    @property 
+    @property
     def design_capacity(self):    
         return self._design_capacity
 
@@ -219,11 +219,11 @@ def probes(self):
         return self._probes
 
     @property 
-    def strings(self):    
+    def strings(self):
         return self._strings
 
     @property 
-    def temps(self):    
+    def temps(self):
         return self._temps
 
     @property 

sensors/bms/bms/freya_bms_node.py

@@ -3,8 +3,26 @@
 from sensor_msgs.msg import BatteryState
 from bms.freya_bms import BMS
 
+# TODO: also publish ros2 Diagnostics message with BMS data
+
 class FreyaBMSNode(Node):
-    def __init__(self, usb_port=None) -> None:
+    """
+        Publishes Freya's BMS data to ROS.
+
+        Methods:
+        ---------
+        publish_bms_data() -> None
+            publises BMS data from BMS system to ros2 node.
+    """
+    def __init__(self, usb_port: str=None) -> None:
+        """
+            Parameters:
+                usb_port(str): The USB port to look for BMS data from. If no port is
+                passed, the system automatically chooses the first port that gives
+                an output
+            Returns: 
+                None
+        """
         super().__init__('freya_bms')
         self._publisher = self.create_publisher(BatteryState, '/internal/status/bms', 10)
         self._timer = self.create_timer(2, self.publish_bms_data)
@@ -14,8 +32,10 @@ def __init__(self, usb_port=None) -> None:
         else:
             self._bms_system = BMS()
 
-    def publish_bms_data(self):
-        # print("mjau")
+    def publish_bms_data(self) -> None:
+        """
+            Publishes BMS data to ros2 node.
+        """
         battery_msg = BatteryState()
 
         self._bms_system.parse_bms_data(self._bms_system.get_bms_data())
@@ -24,9 +44,8 @@ def publish_bms_data(self):
         battery_msg.current = self._bms_system.current
         battery_msg.cell_temperature = self._bms_system.temps
         battery_msg.percentage = self._bms_system.percent_capacity
-
+        
         self._publisher.publish(battery_msg)
-        # self.get_logger().info(f"Publishing voltage: {battery_msg.voltage}, current: {battery_msg.current}, cell_temperature: {battery_msg.cell_temperature}, percentage: {battery_msg.percentage}")
 
 def main(args=None):
     rclpy.init(args=args)

sensors/bms/install/bms/share/bms/launch/bms_launch.py

@@ -0,0 +1,18 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package="bms",
+            namespace="/internal/status",
+            executable="talker",
+            name="bms1"
+        )
+        # Node(
+        #     package="bms",
+        #     namespace="/internal/status",
+        #     executable="freya_bms_node",
+        #     name="bms2"
+        # ),
+    ])

sensors/bms/launch/bms_launch.py

@@ -0,0 +1,18 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package="bms",
+            namespace="/internal/status",
+            executable="talker",
+            name="bms1"
+        )
+        # Node(
+        #     package="bms",
+        #     namespace="/internal/status",
+        #     executable="freya_bms_node",
+        #     name="bms2"
+        # ),
+    ])

sensors/bms/log/build_2023-10-22_14-41-19/bms/command.log

@@ -0,0 +1,2 @@
+Invoking command in '/home/vortex/david_test_ws/vortex-asv/sensors/bms': PS1=${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\[\033[35m\]$(parse_git_branch)\[\033[00m\]\$ PYTHONPATH=/home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/prefix_override:/home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 setup.py egg_info --egg-base build/bms build --build-base /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/build install --record /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/install.log --single-version-externally-managed
+Invoked command in '/home/vortex/david_test_ws/vortex-asv/sensors/bms' returned '0': PS1=${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\[\033[35m\]$(parse_git_branch)\[\033[00m\]\$ PYTHONPATH=/home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/prefix_override:/home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 setup.py egg_info --egg-base build/bms build --build-base /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/build install --record /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/install.log --single-version-externally-managed

sensors/bms/log/build_2023-10-22_14-41-19/bms/stderr.log

@@ -0,0 +1,2 @@
+/usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
+  warnings.warn(

sensors/bms/log/build_2023-10-22_14-41-19/bms/stdout.log

@@ -0,0 +1,30 @@
+running egg_info
+writing build/bms/bms.egg-info/PKG-INFO
+writing dependency_links to build/bms/bms.egg-info/dependency_links.txt
+writing entry points to build/bms/bms.egg-info/entry_points.txt
+writing requirements to build/bms/bms.egg-info/requires.txt
+writing top-level names to build/bms/bms.egg-info/top_level.txt
+reading manifest file 'build/bms/bms.egg-info/SOURCES.txt'
+writing manifest file 'build/bms/bms.egg-info/SOURCES.txt'
+running build
+running build_py
+copying bms/freya_bms_node.py -> /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/build/lib/bms
+copying bms/freya_bms.py -> /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/build/lib/bms
+copying bms/testfile.py -> /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/build/lib/bms
+running install
+running install_lib
+copying /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/build/lib/bms/freya_bms_node.py -> /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages/bms
+copying /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/build/lib/bms/freya_bms.py -> /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages/bms
+copying /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/build/lib/bms/testfile.py -> /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages/bms
+byte-compiling /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages/bms/freya_bms_node.py to freya_bms_node.cpython-310.pyc
+byte-compiling /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages/bms/freya_bms.py to freya_bms.cpython-310.pyc
+byte-compiling /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages/bms/testfile.py to testfile.cpython-310.pyc
+running install_data
+creating /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/share/bms/launch
+copying launch/bms_launch.py -> /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/share/bms/launch
+running install_egg_info
+removing '/home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages/bms-0.0.0-py3.10.egg-info' (and everything under it)
+Copying build/bms/bms.egg-info to /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages/bms-0.0.0-py3.10.egg-info
+running install_scripts
+Installing talker script to /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/bms
+writing list of installed files to '/home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/install.log'

sensors/bms/log/build_2023-10-22_14-41-19/bms/stdout_stderr.log

@@ -0,0 +1,32 @@
+running egg_info
+writing build/bms/bms.egg-info/PKG-INFO
+writing dependency_links to build/bms/bms.egg-info/dependency_links.txt
+writing entry points to build/bms/bms.egg-info/entry_points.txt
+writing requirements to build/bms/bms.egg-info/requires.txt
+writing top-level names to build/bms/bms.egg-info/top_level.txt
+reading manifest file 'build/bms/bms.egg-info/SOURCES.txt'
+writing manifest file 'build/bms/bms.egg-info/SOURCES.txt'
+running build
+running build_py
+copying bms/freya_bms_node.py -> /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/build/lib/bms
+copying bms/freya_bms.py -> /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/build/lib/bms
+copying bms/testfile.py -> /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/build/lib/bms
+running install
+/usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
+  warnings.warn(
+running install_lib
+copying /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/build/lib/bms/freya_bms_node.py -> /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages/bms
+copying /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/build/lib/bms/freya_bms.py -> /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages/bms
+copying /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/build/lib/bms/testfile.py -> /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages/bms
+byte-compiling /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages/bms/freya_bms_node.py to freya_bms_node.cpython-310.pyc
+byte-compiling /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages/bms/freya_bms.py to freya_bms.cpython-310.pyc
+byte-compiling /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages/bms/testfile.py to testfile.cpython-310.pyc
+running install_data
+creating /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/share/bms/launch
+copying launch/bms_launch.py -> /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/share/bms/launch
+running install_egg_info
+removing '/home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages/bms-0.0.0-py3.10.egg-info' (and everything under it)
+Copying build/bms/bms.egg-info to /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages/bms-0.0.0-py3.10.egg-info
+running install_scripts
+Installing talker script to /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/bms
+writing list of installed files to '/home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/install.log'

sensors/bms/log/build_2023-10-22_14-41-19/bms/streams.log

@@ -0,0 +1,34 @@
+[6.665s] Invoking command in '/home/vortex/david_test_ws/vortex-asv/sensors/bms': PS1=${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\[\033[35m\]$(parse_git_branch)\[\033[00m\]\$ PYTHONPATH=/home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/prefix_override:/home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 setup.py egg_info --egg-base build/bms build --build-base /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/build install --record /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/install.log --single-version-externally-managed
+[9.039s] running egg_info
+[9.061s] writing build/bms/bms.egg-info/PKG-INFO
+[9.063s] writing dependency_links to build/bms/bms.egg-info/dependency_links.txt
+[9.065s] writing entry points to build/bms/bms.egg-info/entry_points.txt
+[9.066s] writing requirements to build/bms/bms.egg-info/requires.txt
+[9.067s] writing top-level names to build/bms/bms.egg-info/top_level.txt
+[9.071s] reading manifest file 'build/bms/bms.egg-info/SOURCES.txt'
+[9.095s] writing manifest file 'build/bms/bms.egg-info/SOURCES.txt'
+[9.097s] running build
+[9.098s] running build_py
+[9.100s] copying bms/freya_bms_node.py -> /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/build/lib/bms
+[9.102s] copying bms/freya_bms.py -> /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/build/lib/bms
+[9.106s] copying bms/testfile.py -> /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/build/lib/bms
+[9.110s] running install
+[9.114s] /usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
+[9.115s]   warnings.warn(
+[9.122s] running install_lib
+[9.133s] copying /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/build/lib/bms/freya_bms_node.py -> /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages/bms
+[9.136s] copying /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/build/lib/bms/freya_bms.py -> /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages/bms
+[9.140s] copying /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/build/lib/bms/testfile.py -> /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages/bms
+[9.147s] byte-compiling /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages/bms/freya_bms_node.py to freya_bms_node.cpython-310.pyc
+[9.154s] byte-compiling /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages/bms/freya_bms.py to freya_bms.cpython-310.pyc
+[9.170s] byte-compiling /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages/bms/testfile.py to testfile.cpython-310.pyc
+[9.175s] running install_data
+[9.181s] creating /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/share/bms/launch
+[9.182s] copying launch/bms_launch.py -> /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/share/bms/launch
+[9.184s] running install_egg_info
+[9.199s] removing '/home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages/bms-0.0.0-py3.10.egg-info' (and everything under it)
+[9.204s] Copying build/bms/bms.egg-info to /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages/bms-0.0.0-py3.10.egg-info
+[9.233s] running install_scripts
+[9.445s] Installing talker script to /home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/bms
+[9.460s] writing list of installed files to '/home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/install.log'
+[9.680s] Invoked command in '/home/vortex/david_test_ws/vortex-asv/sensors/bms' returned '0': PS1=${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\[\033[35m\]$(parse_git_branch)\[\033[00m\]\$ PYTHONPATH=/home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/prefix_override:/home/vortex/david_test_ws/vortex-asv/sensors/bms/install/bms/lib/python3.10/site-packages:${PYTHONPATH} /usr/bin/python3 setup.py egg_info --egg-base build/bms build --build-base /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/build install --record /home/vortex/david_test_ws/vortex-asv/sensors/bms/build/bms/install.log --single-version-externally-managed