RoboJackets / urc-software

Primary codebase for the RoboNav team's URC rover.

https://robojackets.org/teams/robonav/

MIT License

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[ros2 control] exposed status light interface, allowed for firmware to parse both drivetrain and status light commands #192

Closed davidcalderon03 closed 6 months ago

davidcalderon03 commented 6 months ago

Description

This PR does the following:

Fixes the status light interface to send a command to the right port and address
Allows for both rover drivetrain and status light commands to both be sent to teensy

Testing Steps (if relevant)

colcon build
. install/setup.bash
ros2 launch urc_bringup bringup.launch.py

Expectation: Should start all hardware interfaces and allow you to drive the drivetrain

Self Checklist

[x] I have formatted my code using ament_uncrustify --reformat
[x] I have tested that the new behavior works