[WIP] LAUNCH: add launch for second pneumatics board

mission_control/navigator_launch/launch/hardware/pneumatic_actuators.launch

@@ -1,6 +1,45 @@
 <launch>
     <node pkg="mil_pneumatic_actuator" type="pneumatic_actuator_node" name="actuator_driver" output="screen">
-        <param name="port" value="/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_AI02L380-if00-port0"/>
+        <param name="port" value="/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_A403IMCP-if00-port0"/>
+        <rosparam param="actuators">
+          # ONLY BL has been verfied on navigator, others are not currently connected
+          BL_unlock: 1
+          BL_extend: 3
+          BL_retract: 2
+
+          # TODO: fix once it is all plugged in
+          #FL_unlock: 5
+          #FL_extend: 6
+          #FL_retract: 7
+          #FR_unlock: 8
+          #FR_extend: 9
+          #FR_retract: 10
+          #BR_unlock: 11
+          #BR_extend: 12
+          #BR_retract: 12
+
+          # TODO: valves for ball launcher
+          LAUNCHER_RELOAD:
+            type: set
+            ports:
+              open_port:
+                id: 4
+                default: False
+              close_port:
+                id: 5
+                default: False
+
+          LAUNCHER_FIRE:
+            type: pulse
+            pulse_time: 0.5
+            ports:
+              open_port:
+                id: 7
+                default: False
+        </rosparam>
+    </node>
+    <node pkg="mil_pneumatic_actuator" type="pneumatic_actuator_node" name="actuator_driver2" output="screen">
+        <param name="port" value="/dev/serial/by-id/usb-FTDI_FT232R_USB_UART_A403IMC9-if00-port0"/>
         <rosparam param="actuators">
           # ONLY BL has been verfied on navigator, others are not currently connected
           BL_unlock: 1

mission_control/navigator_missions/navigator_missions/navigator.py

@@ -111,6 +111,7 @@ def enu_odom_set(odom):
 
         try:
             cls._actuator_client = cls.nh.get_service_client('/actuator_driver/actuate', SetValve)
+            cls._actuator_client2 = cls.nh.get_service_client('/actuator_driver2/actuate', SetValve)
             cls._database_query = cls.nh.get_service_client('/database/requests', ObjectDBQuery)
             cls._camera_database_query = cls.nh.get_service_client(
                 '/camera_database/requests', navigator_srvs.CameraDBQuery)
@@ -202,41 +203,43 @@ def deploy_thruster(self, name):
         '''
         Execute sequence to deploy one thruster
         '''
+        board = 2 if name in ['BL', 'BR'] else 1
         extend = name + '_extend'
         retract = name + '_retract'
         unlock = name + '_unlock'
         # Pull thruster up a bit to remove pressure from lock
-        yield self.set_valve(retract, True)
+        yield self.set_valve(retract, True, board=board)
         yield self.nh.sleep(self._actuator_timing['deploy_loosen_time'])
         # Stop pulling thruster up and unlock
-        yield self.set_valve(retract, False)
-        yield self.set_valve(unlock, True)
+        yield self.set_valve(retract, False, board=board)
+        yield self.set_valve(unlock, True, board=board)
         # Beging extending piston to push thruster down
-        yield self.set_valve(extend, True)
+        yield self.set_valve(extend, True, board=board)
         yield self.nh.sleep(self._actuator_timing['deploy_wait_time'])
         # Lock and stop extending after waiting a time for lock to engage
-        yield self.set_valve(unlock, False)
+        yield self.set_valve(unlock, False, board=board)
         yield self.nh.sleep(self._actuator_timing['deploy_lock_time'])
-        yield self.set_valve(extend, False)
+        yield self.set_valve(extend, False, board=board)
 
     @util.cancellableInlineCallbacks
     def retract_thruster(self, name):
         '''
         Execute sequence to retract one thruster
         '''
+        board = 2 if name in ['BL', 'BR'] else 1
         retract = name + '_retract'
         unlock = name + '_unlock'
         # Unlock and begin pulling thruster up
-        yield self.set_valve(unlock, True)
-        yield self.set_valve(retract, True)
+        yield self.set_valve(unlock, True, board=board)
+        yield self.set_valve(retract, True, board=board)
         # Wait time for piston to fully retract
         yield self.nh.sleep(self._actuator_timing['retract_wait_time'])
         # Lock thruster in place
-        yield self.set_valve(unlock, False)
+        yield self.set_valve(unlock, False, board=board)
         # Wait some time for lock to engage
         yield self.nh.sleep(self._actuator_timing['retract_lock_time'])
         # Stop pulling up
-        yield self.set_valve(retract, False)
+        yield self.set_valve(retract, False, board=board)
 
     def deploy_thrusters(self):
         '''
@@ -273,9 +276,12 @@ def fire_launcher(self):
         yield self.nh.sleep(0.5)
         self.launcher_state = "inactive"
 
-    def set_valve(self, name, state):
+    def set_valve(self, name, state, board=1):
         req = SetValveRequest(actuator=name, opened=state)
-        return self._actuator_client(req)
+        if board == 2:
+            return self._actuator_client2(req)
+        else:
+            return self._actuator_client(req)
 
     @util.cancellableInlineCallbacks
     def get_sorted_objects(self, name, n=-1, throw=True, **kwargs):