updated navigator_gui to ROS2

NaviGator/utils/navigator_gui/navigator_gui/dashboard.py

@@ -8,8 +8,8 @@
 from copy import copy
 from typing import Any
 
+import rclpy
 import rospkg
-import rospy
 from mil_tools import thread_lock
 from navigator_msgs.msg import Host, Hosts
 from python_qt_binding import QtCore, QtWidgets, loadUi
@@ -79,7 +79,7 @@ def __init__(self, context: Any):
 
     @thread_lock(lock)
     def update_gui(self):
-        self.system_time["current"] = rospy.Time.now()
+        self.system_time["current"] = rclpy.Time.now()
         if self.system_time["current"] != self.system_time["displayed"]:
             self.update_system_time_status()
         if self.kill_status["current"] != self.kill_status["displayed"]:
@@ -204,18 +204,22 @@ def connect_ros(self) -> None:
         within this class.
         """
         # Attempts to read the battery voltage parameters (sets them to defaults if they have not been set)
-        self.battery_low_voltage = rospy.get_param(
+        self.battery_low_voltage = self.declare_parameter(
             "/battery_monitor/battery_low_voltage",
             24,
         )
-        self.battery_critical_voltage = rospy.get_param(
+        self.battery_critical_voltage = self.get_parameter(
             "/battery_monitor/battery_critical_voltage",
             20,
         )
 
-        rospy.Subscriber("/wrench/selected", String, self.cache_operating_mode)
-        rospy.Subscriber("/battery_monitor", Float32, self.cache_battery_voltage)
-        rospy.Subscriber("/host_monitor", Hosts, self.cache_hosts)
+        self.create_subscription(String, "/wrench/selected", self.cache_operating_mode)
+        self.create_subscription(
+            Float32,
+            "/battery_monitor",
+            self.cache_battery_voltage,
+        )
+        self.create_subscription(Hosts, "/host_monitor", self.cache_hosts)
 
         self.kill_listener = AlarmListener(
             "kill",
@@ -241,7 +245,7 @@ def cache_hosts(self, msg: Hosts) -> None:
         in the hosts receiving variable.
         """
         self.hosts["current"] = msg
-        self.hosts["stamp"] = rospy.Time.now()
+        self.hosts["stamp"] = rclpy.Time.now()
 
     def update_kill_status(self) -> None:
         if self.kill_status["current"] is False:
@@ -291,7 +295,7 @@ def monitor_battery_voltage(self) -> None:
 
         # Sets the battery voltage to 'Unknown' if no message has been current in 15s
         if (
-            (rospy.Time.now() - self.battery_voltage["stamp"]) > rospy.Duration(15)
+            (rclpy.Time.now() - self.battery_voltage["stamp"]) > rclpy.Duration(15)
         ) or (self.battery_voltage["current"] is None):
             self.battery_voltage["current"] = "Unknown"
 

NaviGator/utils/navigator_gui/navigator_gui/host_monitor.py

@@ -6,8 +6,9 @@
 
 import socket
 import subprocess
+import sys
 
-import rospy
+import rclpy
 from navigator_msgs.msg import Host, Hosts
 
 __author__ = "Anthony Olive"
@@ -17,15 +18,16 @@
 __license__ = "MIT"
 
 
-rospy.init_node("host_monitor")
+rclpy.init(args=sys.argv)
+node = rclpy.create_node("host_monitor")
 
 
 class HostMonitor:
     def __init__(self):
-        self.pub_hosts = rospy.Publisher(
-            "/host_monitor",
+        self.pub_hosts = self.create_publisher(
             Hosts,
-            queue_size=1,
+            "/host_monitor",
+            1,
             latch=True,
         )
         self.hosts = Hosts()
@@ -61,7 +63,7 @@ def check_hosts(self) -> None:
 
             self.hosts.hosts.append(host)
 
-    def publish(self, _: rospy.timer.TimerEvent) -> None:
+    def publish(self, _: rclpy.timer.TimerEvent) -> None:
         """
         Publishes the list of hosts and the information gathered about them.
         """
@@ -71,5 +73,5 @@ def publish(self, _: rospy.timer.TimerEvent) -> None:
 
 if __name__ == "__main__":
     monitor = HostMonitor()
-    rospy.Timer(rospy.Duration(10), monitor.publish, oneshot=False)
-    rospy.spin()
+    rclpy.Timer(rclpy.Duration(10), monitor.publish, oneshot=False)
+    rclpy.spin()

NaviGator/utils/navigator_gui/navigator_gui/shooter.py

@@ -8,8 +8,8 @@
 
 import os
 
+import rclpy
 import rospkg
-import rospy
 from python_qt_binding import QtCore, QtWidgets, loadUi
 from qt_gui.plugin import Plugin
 from remote_control_lib import RemoteControl
@@ -44,15 +44,15 @@ def __init__(self, context):
 
         self.shooter_status = {
             "received": "Unknown",
-            "stamp": rospy.Time.now(),
+            "stamp": rclpy.Time.now(),
             "cached": "Unknown",
         }
 
         self.disc_speed_setting = 0
 
         self.connect_ui()
 
-        rospy.Subscriber("/shooter/status", String, self.cache_shooter_status)
+        self.create_subscription(String, "/shooter/status", self.cache_shooter_status)
 
         # Deals with problem of multiple instances of same plugin
         if context.serial_number() > 1:
@@ -142,15 +142,15 @@ def cache_shooter_status(self, msg: String) -> None:
         Stores the shooter status when it is published.
         """
         self.shooter_status["received"] = msg.data
-        self.shooter_status["stamp"] = rospy.Time.now()
+        self.shooter_status["stamp"] = rclpy.Time.now()
 
     def monitor_shooter_status(self) -> None:
         """
         Monitors the shooter status on a 1s interval. Only updates the display
         when the received shooter status has changed. The connection to the
         status will time out if no message has been received in 1s.
         """
-        if (rospy.Time.now() - self.shooter_status["stamp"]) < rospy.Duration(1):
+        if (rclpy.Time.now() - self.shooter_status["stamp"]) < rclpy.Duration(1):
             self.remote.is_timed_out = False
 
         # Sets the remote control to timed out and the shooter status to 'Unknown' if no message has been received in 1s

NaviGator/utils/navigator_gui/navigator_gui/stc_display.py

@@ -1,7 +1,6 @@
 import os
 
 import rospkg
-import rospy
 from navigator_msgs.msg import ScanTheCode
 from python_qt_binding import QtWidgets, loadUi
 from python_qt_binding.QtWidgets import QWidget
@@ -63,7 +62,11 @@ def __init__(self, context):
         # Add widget to the user interface
         context.add_widget(self._widget)
         self.connect_ui()
-        self.stc_sub = rospy.Subscriber(self.STC_TOPIC, ScanTheCode, self.update_gui)
+        self.stc_sub = self.create_subscription(
+            ScanTheCode,
+            self.STC_TOPIC,
+            self.update_gui,
+        )
 
     def connect_ui(self) -> None:
         self.color1_rect = self._widget.findChild(QtWidgets.QColumnView, "color1_rect")