Merge remote-tracking branch 'refs/remotes/origin/integration' into integration

Author: umroverPerception

launch/jetson_erd.launch

@@ -2,6 +2,13 @@
   <include file="$(find mrover)/launch/jetson_base.launch"/>
   <include file="$(find mrover)/launch/jetson_arm.launch"/>
 
+  <node pkg="mrover" type="gst_websocket_streamer" name="static_streamer"
+        output="screen">
+    <param name="dev_path" value="/devices/platform/3610000.xhci/usb1/1-2/1-2.4/1-2.4.4"/>
+    <param name="port" value="8083"/>
+  </node>
+
+
   <include file="$(find mrover)/launch/zed.launch">
     <arg name="zed_model" value="zedm"/>
     <arg name="serial_number" value="12046231"/>

launch/jetson_science.launch

@@ -24,6 +24,13 @@
 
     <node pkg="mrover" type="gst_websocket_streamer" name="ish_2_streamer"
           output="screen">
+      <param name="dev_path" value="/devices/platform/3610000.xhci/usb1/1-2/1-2.3"/>
+      <param name="port" value="8084"/>
+      <param name="disable_auto_white_balance" value="true"/>
+    </node>
+
+    <node pkg="mrover" type="gst_websocket_streamer" name="ish_3_streamer"
+          output="screen">
       <param name="dev_path" value="/devices/platform/3610000.xhci/usb1/1-2/1-2.4/1-2.4.2"/>
       <param name="port" value="8085"/>
       <param name="disable_auto_white_balance" value="true"/>

src/teleoperation/backend/consumers.py

@@ -16,7 +16,8 @@
 from backend.ra_controls import send_ra_controls
 from backend.sa_controls import send_sa_controls
 from geometry_msgs.msg import Twist
-from mrover.msg import CalibrationStatus, ControllerState, StateMachineStateUpdate, LED, GPSWaypoint, WaypointType, NetworkBandwidth
+from mrover.msg import ( CalibrationStatus, ControllerState, StateMachineStateUpdate, LED, GPSWaypoint, WaypointType, 
+                        NetworkBandwidth, ScienceThermistors, Spectral, HeaterData )
 from mrover.srv import EnableAuton
 from sensor_msgs.msg import JointState, NavSatFix, RelativeHumidity, Temperature
 from std_srvs.srv import SetBool
@@ -84,6 +85,13 @@ def connect(self) -> None:
         self.forward_ros_topic("/sa_joint_data", JointState, "sa_joint")
         self.forward_ros_topic("/corer_joint_data", JointState, "plunger")
         self.forward_ros_topic("/network_bandwidth", NetworkBandwidth, "network")
+        self.forward_ros_topic("/science_thermistors", ScienceThermistors, "thermistor")
+        self.forward_ros_topic("science_spectral", Spectral, "spectral_data")
+        self.forward_ros_topic("/science_heater_state", HeaterData, "heater_states")
+
+    #     eaterDataPublisher = std::make_unique<ros::Publisher>(nh.advertise<mrover::HeaterData>("science_heater_state", 1));
+    # spectralDataPublisher = std::make_unique<ros::Publisher>(nh.advertise<mrover::Spectral>("science_spectral", 1));
+    # thermistorDataPublisher = std::make_unique<ros::Publisher>(nh.advertise<mrover::ScienceThermistors>("science_thermistors", 1));
 
         self.enable_auton = rospy.ServiceProxy("enable_auton", EnableAuton)
         self.enable_teleop = rospy.ServiceProxy("enable_teleop", SetBool)

src/teleoperation/backend/sa_controls.py

@@ -33,7 +33,7 @@ class Joint(Enum):
 
 JOINT_SCALES = [
     -1.0,
-    1.0,
+    -1.0,
     1.0,
     1.0,
     1.0,

src/teleoperation/frontend/src/components/AminoBenedict.vue

@@ -101,19 +101,21 @@ export default {
         }
       }
       else if (msg.type == 'thermistor') {
+        if(this.site == 0) return;
         if (this.isAmino) {
-          this.heaters[this.site].temp = msg.temps[this.site*2+1];
+          this.heaters[this.site].temp = msg.temps[this.site*2+1].temperature;
         }
         else {
-          this.heaters[this.site].temp = msg.temps[this.site*2];
+          this.heaters[this.site].temp = msg.temps[this.site*2].temperature;
         }
       }
       else if(msg.type == 'heater_states') {
+        if(this.site == 0) return;
         if (this.isAmino) {
-          this.heaters[this.site].state = msg.states[this.site*2+1];
+          this.heaters[this.site].state = msg.state[this.site*2+1];
         }
         else {
-          this.heaters[this.site].state = msg.states[this.site*2];
+          this.heaters[this.site].state = msg.state[this.site*2];
         }
       }
     },