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Use polling approach to trigger comms to other robots #13

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Merged
fcladera merged 2 commits into from
Mar 30, 2026
Merged

Use polling approach to trigger comms to other robots #13

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f37f441
Fix launch file for rajant using new rssi polling
fcladera Mar 25, 2026
578dd8f
More fixes for rajant_nodes.launch to include dynamic jar file
fcladera Mar 25, 2026
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35 changes: 17 additions & 18 deletions interface_rajant/launch/rajant_nodes.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,40 +34,39 @@ def generate_launch_description():
description='Path to radio configuration file'
)

bcapi_jar_file_arg = DeclareLaunchArgument(
'bcapi_jar_file',
default_value=PathJoinSubstitution([
FindPackageShare('interface_rajant'),
'thirdParty', 'PeerRSSI-bcapi-11.26.1.jar'
]),
description='Path to jar file used to get rssi'
)

# Get launch configurations
robot_name = LaunchConfiguration('robot_name')
robot_configs = LaunchConfiguration('robot_configs')
radio_configs = LaunchConfiguration('radio_configs')
bcapi_jar_file = LaunchConfiguration('bcapi_jar_file')

# Define nodes
rajant_query_node = Node(
package='interface_rajant',
executable='rajant_query.py',
name='rajant_query',
output='screen',
parameters=[{
'robot_name': robot_name,
'robot_configs': robot_configs,
'radio_configs': radio_configs
}]
)

rajant_parser_node = Node(
rajant_peer_rssi = Node(
package='interface_rajant',
executable='rajant_parser.py',
name='rajant_parser',
executable='rajant_peer_rssi.py',
name='rajant_peer_rssi',
output='screen',
parameters=[{
'robot_name': robot_name,
'robot_configs': robot_configs,
'radio_configs': radio_configs
'radio_configs': radio_configs,
'bcapi_jar_file': bcapi_jar_file
}]
)

return LaunchDescription([
robot_name_arg,
robot_configs_arg,
radio_configs_arg,
rajant_query_node,
rajant_parser_node
bcapi_jar_file_arg,
rajant_peer_rssi,
])
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