1299 alexj boat drone comms

[alexoj46]

Description

This PR creates a ROSSerialDevice called DroneCommDevice which allows Navigator to communicate with the drone. Also, it adds a test-suite for simulated packets.

Screenshot or Video

Related Issues

- #1299

Testing

rosrun navigator_drone_comm test_simulated_drone.py

• This starts the test program.
• You should see a received GPSDronePacket and TargetPacket printed to the console immediately.

While "Testing receiving heartbeats for 5 secs..."

• You should see no outputted errors for missing heartbeat.

While the long test loop runs

• You should see error for no received heartbeat every second.
• Use ctrl Z to end execution.

To test services that send messages:

• Comment out lines in driver.py with “send_packet()”.
• Uncomment the print statements next to those lines.
• Now instead of freezing after sending packets, you will see print statements when messages would be sent to the drone.

Now, while the long test runs:

• Call the services below in a separate terminal to check that a message would be sent.
• Use ctrl c to end execution early.

rosservice call /test_simulated_drone/start “sample_mission”
rosservice call /test_simulated_drone/estop
rosservice call /test_simulated_drone/stop

About This PR

• I have updated documentation related to this change so that future members are aware of the changes I've made.

[cbrxyz]

@alexoj46 Do you remember if you were able to upload all the changes for this off from the boat/your computer? The last commit was at 11:04AM on the day the drone took a swim... :(

I'm happy to take a look whenever, but if there's still stuff to pull off the boat, I'll hold off until after break!

[alexoj46]

@cbrxyz This seems to be the most up to date version of what ended up working on the boat. I can't quite remember if there were any bugs that needed fixing after handling merge conflicts on the boat, but I believe it was relatively straightforward.

[cbrxyz]

awesome thank u for the update alex, i'll make sure to review this soon then! <3

[cbrxyz]

Looks good! I'm going to go through and make some small changes and then approve!

[cbrxyz]

thank you alex! amazing job!!

[uf-mil-bot]

Hola, your friendly InvestiGator bot here with another message!

Because this PR was closed/merged, I'm going to remove the docs preview for now.

Have a great day! Go gators! 🐊