+
+
+
+
+
+
+ );
+}
+
+export default ChassisManager;
\ No newline at end of file
diff --git a/software/react_groundstation/src/components/FrontMountManager.js b/software/react_groundstation/src/components/FrontMountManager.js
new file mode 100644
index 00000000..c75c133a
--- /dev/null
+++ b/software/react_groundstation/src/components/FrontMountManager.js
@@ -0,0 +1,53 @@
+import React,{useState,useEffect} from 'react';
+
+import ArmControl from './ArmControl.js'
+import MiningControl from './MiningControl.js'
+
+
+function FrontMountManager(props){
+ const [layout,setLayout] = useState('');
+ const [ui,setUI] = useState(No UI selected!
) + + const [controlState,setControlState] = useState([false,false]); + + useEffect(() => { + if(layout==="arm"){ + setUI(No UI selected!
) + } + }, [controlState]); + + const layoutConfig = (update) => { + setLayout(update) + if(update === "arm"){ + setControlState([true,false]) + } else if(update === "mining"){ + setControlState([false,true]) + } else { + setControlState([false,false]) + } + } + + return ( +
+
+
+
+
+ {ui}
+
+ );
+}
+
+export default FrontMountManager;
diff --git a/software/react_groundstation/src/components/GripperControl.js b/software/react_groundstation/src/components/GripperControl.js
new file mode 100644
index 00000000..61f8c3ae
--- /dev/null
+++ b/software/react_groundstation/src/components/GripperControl.js
@@ -0,0 +1,102 @@
+import ROSLIB from 'roslib'
+import React,{useState,useEffect} from 'react';
+import { ARM_CONTROLLER_ID } from '../lib/constants';
+
+// function gripperAxisOutput(e,topic){
+
+// if(ARM_CONTROLLER_ID !== e.detail.gamepad["id"] || (e.detail.directionOfMovement)){
+// return ;
+// }
+// var moveValue = e.detail.axisMovementValue
+// if(e.detail.axis == 4){
+// moveValue *= -1
+// }
+// publishMessage(Math.round(moveValue*300),false,false,false,topic)
+// }
+
+
+
+function publishMessage(moveValue,shouldHome,light,laser,topic){
+ var data = new ROSLIB.Message({
+ target: moveValue,
+ should_home: shouldHome,
+ toggle_light: light,
+ toggle_laser: laser
+ });
+ console.log('msg', data)
+ topic.publish(data);
+}
+
+function GripperControl(props){
+ const [buttonInterval,setButtonInterval] = useState(null)
+ const [buttonStatus,setButtonStatus] = useState([false,false])
+ const GRIPPER_CONTROL_TOPIC = new ROSLIB.Topic({
+ ros: props.ros,
+ name: "gripper/control",
+ messageType: "rover2_control_interface/msg/GripperControlMessage"
+ })
+
+ const gripperButtonOutput = (e) => {
+
+ if(ARM_CONTROLLER_ID !== e.detail.gamepad["id"]){
+
+ return ;
+ }
+
+ if(e.detail.buttonName == "button_1"){
+ setButtonStatus([buttonStatus[0],true])
+ }
+ if(e.detail.buttonName == "button_3"){
+ setButtonStatus([true,buttonStatus[1]])
+ }
+ if(e.detail.buttonName == "button_4"){
+ publishMessage(0,false,false,true,GRIPPER_CONTROL_TOPIC)
+ } else if(e.detail.buttonName == "button_5"){
+ publishMessage(0,false,true,false,GRIPPER_CONTROL_TOPIC)
+ } else if(e.detail.buttonName == "button_16"){
+ publishMessage(0,true,false,false,GRIPPER_CONTROL_TOPIC)
+ }
+
+ }
+
+ const gripperButtonReleased = (e) =>{
+ if(ARM_CONTROLLER_ID !== e.detail.gamepad["id"]){
+
+ return ;
+ }
+
+ if(e.detail.buttonName == "button_1"){
+ setButtonStatus([buttonStatus[0],false])
+ }
+ if(e.detail.buttonName == "button_3"){
+ setButtonStatus([false,buttonStatus[1]])
+ }
+ }
+ useEffect(() => {
+ //const gripperMovement = window.joypad.on('axis_move', function(e){gripperAxisOutput(e,GRIPPER_CONTROL_TOPIC);});
+ const gripperUtils = window.joypad.on('button_press', function(e){gripperButtonOutput(e);});
+ const dpadReleased = window.joypad.on('button_release', function(e){gripperButtonReleased(e)})
+ },[])
+ useEffect(() => { //Must include these useEffects to unsub from chassis control listener to prevent CPU and memory leaks and overruns
+ clearInterval(buttonInterval)
+ //console.log(dpadStatus)
+
+
+ if(buttonStatus.includes(true)){
+ setButtonInterval(
+ setInterval(() => {
+
+ if(buttonStatus[0]){
+ publishMessage(300,false,false,false,GRIPPER_CONTROL_TOPIC)
+ }
+ if(buttonStatus[1]){
+ publishMessage(-300,false,false,false,GRIPPER_CONTROL_TOPIC)
+ }
+
+ }, 15)
+ )
+ }
+ },[buttonStatus])
+}
+
+export default GripperControl;
\ No newline at end of file
diff --git a/software/react_groundstation/src/components/JointConnectorDisplay.js b/software/react_groundstation/src/components/JointConnectorDisplay.js
new file mode 100644
index 00000000..88cd3a8e
--- /dev/null
+++ b/software/react_groundstation/src/components/JointConnectorDisplay.js
@@ -0,0 +1,176 @@
+import React, { useRef , useState, useEffect} from 'react'
+import ROSLIB from 'roslib'
+let OFFSET_FROM_ORIGIN = 100
+let SQUARE_CENTER = 150
+let START_CIRCLE_DIAMETER = 30
+let max_angle = 2
+let matrixMultiplication = require('matrix-multiplication')
+let mul = matrixMultiplication()(3)
+let JOINT_OFFSETS = [
+ {"x":0,"y":-0.5},
+ {"x":0,"y":-0.8},
+ {"x":-0.4,"y":0},
+ {"x":0,"y":-0.6},
+ {"x":0.4,"y":0},
+ {"x":0,"y":-0.5},
+]
+
+function populateArmJoints(setArmJoints){
+ var jointArr = []
+ //ARBITRARY VALUES, REPLACE THIS WITH INFORMATION FROM THE ARM ROS MODULE
+ jointArr.push([0,0,0])
+ var count = 0
+ for (let coords of JOINT_OFFSETS){
+ var prevEntry = jointArr[jointArr.length-1]
+
+ if(count == 2)
+ prevEntry = [0,0,0]
+ console.log(prevEntry)
+
+ var coord = [prevEntry[0]+coords["x"],prevEntry[1]+coords["y"],prevEntry[2]]
+ jointArr.push(coord)
+ count++
+ }
+ var offset = jointArr[2]
+ for (let coords of jointArr){
+ coords[0] -= offset[0]
+ coords[1] -= offset[1]
+
+ }
+
+
+
+ setArmJoints(jointArr)
+}
+
+function calculateRotationMatrix(curPos,prevPos){
+ var y_theta = -((curPos[0]-prevPos[0])/300)*max_angle //This is defined in the CSS rules for the wireframeWidget class
+ var x_theta = -((curPos[1]-prevPos[1])/300)*max_angle //This is defined in the CSS rules for the wireframeWidget class
+
+ var xRotationMatrix = [1,0,0,
+ 0,Math.cos(x_theta),-Math.sin(x_theta),
+ 0,Math.sin(x_theta),Math.cos(x_theta)]
+
+ var yRotationMatrix = [Math.cos(y_theta),0,-Math.sin(y_theta),
+ 0, 1, 0,
+ Math.sin(y_theta),0,Math.cos(y_theta),]
+
+ var finalRotationMatrix = mul(xRotationMatrix,yRotationMatrix)
+
+ return finalRotationMatrix
+
+}
+
+function JointConnectorDisplay(props){
+ const [mouseCurPos,setCurPos] = useState([])
+ const [mousePrevPos,setPrevPos] = useState([])
+
+ const [mouseDownNew,setDownNew] = useState(false)
+
+ const [armJoints,setArmJoints] = useState([])
+ const [buttonInterval,setButtonInterval] = useState(null)
+
+ var listener = new ROSLIB.Topic({
+ ros : props.ros,
+ name : '/rover_arm_controller/commands',
+ messageType : 'std_msgs/msg/Float64MultiArray'
+ })
+
+ const printClick = () =>{
+ setDownNew(true)
+ }
+ const printRelease = () =>{
+ setDownNew(false)
+ }
+ const setArmJointsEmbed = (array) =>{
+ setArmJoints(array)
+ }
+
+ useEffect(() => {
+ populateArmJoints(setArmJoints);
+ listener.subscribe(function(message) {
+ console.log(message.data);
+
+ });
+ },[])
+
+ const trackMouse = (event) =>{
+ setPrevPos(mouseCurPos)
+ const bounds = event.currentTarget.getBoundingClientRect();
+ const x = event.clientX - bounds.left;
+ const y = event.clientY - bounds.top;
+ setCurPos([x,y])
+ // Now x and y are the relative coordinates.
+ if(mouseDownNew){
+ var finalRotationMatrix = calculateRotationMatrix(mouseCurPos,mousePrevPos)
+ var translatedJointPoints = []
+
+ for (var i = 0; i < armJoints.length; i++){
+
+ var element = armJoints[i]
+
+ var translatedPoint = mul(finalRotationMatrix,element)
+ translatedJointPoints.push(translatedPoint)
+
+ }
+
+ setArmJointsEmbed(translatedJointPoints)
+
+ }
+ }
+ var array = JSON.parse(JSON.stringify(armJoints))
+
+ Math.degrees = function(radians) {
+ return radians * 180 / Math.PI;
+ }
+
+ for(let i = 0; i < array.length; i++){
+ if(i===0){
+ array[0].push("darkred")
+ }
+ else if(i===array.length-1){
+ array[i].push("darkblue")
+ } else {
+ array[i].push("green")
+ }
+ if(array[i+1]){
+ var distance = Math.sqrt(
+ Math.pow(array[i][0]*OFFSET_FROM_ORIGIN-array[i+1][0]*OFFSET_FROM_ORIGIN,2) +
+ Math.pow(array[i][1]*OFFSET_FROM_ORIGIN-array[i+1][1]*OFFSET_FROM_ORIGIN,2))
+
+ array[i].push()
+ }
+ }
+
+ array.sort(function(a, b) {
+ return a[2] - b[2];
+ })
+ const renderedItems = [];
+ for (let i = 0; i < array.length; i++){
+ let joint = array[i]
+ // REMINDER TO MAKE A LIST OF CONSTANTS, CHECK TO SEE IF JS AND CSS CAN SHARE CONSTANTS
+
+ renderedItems.push(joint[4])
+ renderedItems.push()//Filter does not work as intendeds
+
+ }
+ return (
+
+
+ {renderedItems}
+
+
+ )
+}
+
+export default JointConnectorDisplay
\ No newline at end of file
diff --git a/software/react_groundstation/src/components/LightControl.js b/software/react_groundstation/src/components/LightControl.js
new file mode 100644
index 00000000..8e656139
--- /dev/null
+++ b/software/react_groundstation/src/components/LightControl.js
@@ -0,0 +1,38 @@
+import {useState,useEffect} from 'react';
+//import UseRunOnce from './UseRunOnce.js'
+import { DRIVE_CONTROLLER_ID } from '../lib/constants';
+function Light(props){
+ let startColor = ''
+ if(props.startColor){
+ startColor = props.startColor;
+ } else {
+ startColor = "red"
+ }
+ let [backgroundColor,changeColor] = useState(startColor)
+
+ const flipColor = (e) => {
+ if(e.detail.buttonName === props.button && DRIVE_CONTROLLER_ID == e.detail.gamepad["id"]){
+
+ if(backgroundColor === "red"){
+
+ changeColor("green");
+
+ } else {
+ changeColor("red");
+
+ }
+ }
+ }
+
+ if(props.controllerEvent && props.button){
+ window.joypad.on(props.controllerEvent, function(e){flipColor(e)});
+ }
+
+
+
+ return(
+
+ );
+}
+
+export default Light;
\ No newline at end of file
diff --git a/software/react_groundstation/src/components/MiningControl.js b/software/react_groundstation/src/components/MiningControl.js
new file mode 100644
index 00000000..3d12958a
--- /dev/null
+++ b/software/react_groundstation/src/components/MiningControl.js
@@ -0,0 +1,109 @@
+import React,{useState,useEffect} from 'react';
+import ROSLIB from 'roslib';
+import { ARM_CONTROLLER_ID } from '../lib/constants';
+//LINEAR_CONTROL_TOPIC = "mining/control/linear"
+//COMPARTMENT_CHANGE_TOPIC = "mining/control/compartment"
+//DRILL_CONTROL_TOPIC = "mining/drill/control"
+
+
+
+function MiningControl(props){
+ const [compartment,setCompartment] = useState(0)
+
+ const COMPARTMENT_CHANGE_TOPIC = new ROSLIB.Topic({
+ ros: props.ros,
+ name: "/mining/control/compartment",
+ messageType: "rover2_control_interface/msg/MiningControlMessage"
+ })
+
+ const LINEAR_CONTROL_TOPIC = new ROSLIB.Topic({
+ ros: props.ros,
+ name: "/mining/control/linear",
+ messageType: "rover2_control_interface/msg/DrillControlMessage"
+ })
+
+ const DRILL_CONTROL_TOPIC = new ROSLIB.Topic({
+ ros: props.ros,
+ name: "/mining/drill/control",
+ messageType: "rover2_control_interface/msg/DrillControlMessage"
+ })
+
+ const publishCompartmentChange = (position) => {
+ const data = new ROSLIB.Message({
+ compartment: position
+ })
+ setCompartment(position)
+ console.log(data)
+ COMPARTMENT_CHANGE_TOPIC.publish(data)
+ }
+
+ const publishLinearControl = (moveValue) => {
+ var dir = false
+ if(moveValue < 0)
+ dir = true
+ const data = new ROSLIB.Message({
+ speed: Math.round(65535*Math.abs(moveValue)),
+ direction: dir
+
+ })
+ console.log(data)
+ LINEAR_CONTROL_TOPIC.publish(data)
+ }
+
+ const publishDrillControl= (moveValue) => {
+ const data = new ROSLIB.Message({
+ speed: Math.round(65535*moveValue),
+ direction: false
+ })
+ console.log(data)
+ DRILL_CONTROL_TOPIC.publish(data)
+ }
+
+ const compartmentControl = (e) => {
+
+ if(!props.controlMining || ARM_CONTROLLER_ID !== e.detail.gamepad["id"]){
+ return
+ }
+ if(e.detail.buttonName === "button_0"){
+ publishCompartmentChange(0)
+ } else if(e.detail.buttonName === "button_1"){
+ publishCompartmentChange(1)
+ } else if(e.detail.buttonName === "button_2"){
+ publishCompartmentChange(2)
+ } else if(e.detail.buttonName === "button_3"){
+ publishCompartmentChange(3)
+ }
+ }
+
+ const joystickHandling = (e) => {
+ if(!props.controlMining || ARM_CONTROLLER_ID !== e.detail.gamepad["id"]){
+
+ return
+ }
+ if(e.detail.directionOfMovement && e.detail.stickMoved == "left_stick"){
+ publishLinearControl(e.detail.axisMovementValue)
+ }
+ if(!e.detail.directionOfMovement){
+ publishDrillControl(e.detail.axisMovementValue)
+ }
+
+ }
+
+ useEffect(()=>{
+ const compartmentChange = window.joypad.on('button_press', function(e){compartmentControl(e)})
+ const controlDrillAndLinear = window.joypad.on('axis_move',function(e){joystickHandling(e)})
+ },[])
+
+ return(
+
+
+ );
+}
+export default MiningControl
\ No newline at end of file
diff --git a/software/react_groundstation/src/components/Slider.js b/software/react_groundstation/src/components/Slider.js
new file mode 100644
index 00000000..5da19cdc
--- /dev/null
+++ b/software/react_groundstation/src/components/Slider.js
@@ -0,0 +1,16 @@
+import ReactSlider from "react-slider";
+function Slider({setThrottle}){
+ return(
+ + This is the Mining UI +
++ Current Compartment: {compartment} +
+ +
+
+
+// 
+// 
+//
+// );
+// }
+
+// export default VideoManager;
+
+
+// import React,{useState,useEffect} from 'react';
+// import ROSLIB from 'roslib';
+// import Light from './LightControl.js';
+// import axios from 'axios';
+// import { DRIVE_CONTROLLER_ID } from '../lib/constants.js';
+
+// function VideoManager(props){
+// var buttonArr = [0,0,0,0,0,0,0,0,0,0,0]
+// var stickArr = [0,0,0,0,0,0,0,0]
+
+// // let ros = props.ros
+
+// var chassis_controller = new ROSLIB.Topic({
+// ros : ros,
+// name : '/cameras/chassis/camera_control',
+// messageType : 'rover2_camera_interface/msg/CameraControlMessage'
+// });
+// var tower_controller = new ROSLIB.Topic({
+// ros : ros,
+// name : '/cameras/main_navigation/camera_control',
+// messageType : 'rover2_camera_interface/msg/CameraControlMessage'
+// });
+// var infrared_controller = new ROSLIB.Topic({
+// ros : ros,
+// name : '/cameras/infrared/camera_control',
+// messageType : 'rover2_camera_interface/msg/CameraControlMessage'
+// });
+// var gripper_controller = new ROSLIB.Topic({
+// ros : ros,
+// name : '/cameras/gripper/camera_control',
+// messageType : 'rover2_camera_interface/msg/CameraControlMessage'
+// });
+
+
+// useEffect(() => {
+// const dpadPressed = window.joypad.on('button_press', function(e){
+// if(e.detail.gamepad["id"] !== ARM_CONTROLLER_ID){
+// return ;
+// }
+// if(e.detail.buttonName == "button_12"){
+
+// }
+// if(e.detail.buttonName == "button_13"){
+
+// }
+// if(e.detail.buttonName == "button_14"){
+
+// }
+// if(e.detail.buttonName == "button_15"){
+
+// }
+
+// })
+// })
+// }
+
+// export default VideoManager;
\ No newline at end of file
diff --git a/software/react_groundstation/src/index.css b/software/react_groundstation/src/index.css
new file mode 100644
index 00000000..ec2585e8
--- /dev/null
+++ b/software/react_groundstation/src/index.css
@@ -0,0 +1,13 @@
+body {
+ margin: 0;
+ font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', 'Roboto', 'Oxygen',
+ 'Ubuntu', 'Cantarell', 'Fira Sans', 'Droid Sans', 'Helvetica Neue',
+ sans-serif;
+ -webkit-font-smoothing: antialiased;
+ -moz-osx-font-smoothing: grayscale;
+}
+
+code {
+ font-family: source-code-pro, Menlo, Monaco, Consolas, 'Courier New',
+ monospace;
+}
diff --git a/software/react_groundstation/src/index.js b/software/react_groundstation/src/index.js
new file mode 100644
index 00000000..a4715093
--- /dev/null
+++ b/software/react_groundstation/src/index.js
@@ -0,0 +1,17 @@
+import React from 'react';
+import ReactDOM from 'react-dom/client';
+import './index.css';
+import App from './App';
+import reportWebVitals from './reportWebVitals';
+
+const root = ReactDOM.createRoot(document.getElementById('root'));
+
+
+root.render(
+ Tower cam
+//Chassis cam
+//
+ {/*
+
+
+ );
+
+}
+
+
+
+export default MainPage;
\ No newline at end of file
diff --git a/software/react_groundstation/src/reportWebVitals.js b/software/react_groundstation/src/reportWebVitals.js
new file mode 100644
index 00000000..5253d3ad
--- /dev/null
+++ b/software/react_groundstation/src/reportWebVitals.js
@@ -0,0 +1,13 @@
+const reportWebVitals = onPerfEntry => {
+ if (onPerfEntry && onPerfEntry instanceof Function) {
+ import('web-vitals').then(({ getCLS, getFID, getFCP, getLCP, getTTFB }) => {
+ getCLS(onPerfEntry);
+ getFID(onPerfEntry);
+ getFCP(onPerfEntry);
+ getLCP(onPerfEntry);
+ getTTFB(onPerfEntry);
+ });
+ }
+};
+
+export default reportWebVitals;
diff --git a/software/react_groundstation/src/setupTests.js b/software/react_groundstation/src/setupTests.js
new file mode 100644
index 00000000..8f2609b7
--- /dev/null
+++ b/software/react_groundstation/src/setupTests.js
@@ -0,0 +1,5 @@
+// jest-dom adds custom jest matchers for asserting on DOM nodes.
+// allows you to do things like:
+// expect(element).toHaveTextContent(/react/i)
+// learn more: https://github.com/testing-library/jest-dom
+import '@testing-library/jest-dom';
diff --git a/software/ros_packages/rover2_control_interface/CMakeLists.txt b/software/ros_packages/rover2_control_interface/CMakeLists.txt
index 145d30b5..a7907cff 100644
--- a/software/ros_packages/rover2_control_interface/CMakeLists.txt
+++ b/software/ros_packages/rover2_control_interface/CMakeLists.txt
@@ -35,6 +35,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
"msg/MiningControlMessage.msg"
"msg/MiningStatusMessage.msg"
"msg/TowerPanTiltControlMessage.msg"
+ "msg/LightControlMessage.msg"
+ "msg/GPSStatusMessage.msg"
DEPENDENCIES geometry_msgs
)
diff --git a/software/ros_packages/rover2_control_interface/msg/GPSStatusMessage.msg b/software/ros_packages/rover2_control_interface/msg/GPSStatusMessage.msg
new file mode 100644
index 00000000..f3e9bfe7
--- /dev/null
+++ b/software/ros_packages/rover2_control_interface/msg/GPSStatusMessage.msg
@@ -0,0 +1,4 @@
+float32 rover_latitude
+float32 rover_longitude
+float32 astronaut_latitude
+float32 astronaut_longitude
diff --git a/software/ros_packages/rover2_control_interface/msg/LightControlMessage.msg b/software/ros_packages/rover2_control_interface/msg/LightControlMessage.msg
new file mode 100644
index 00000000..a845c231
--- /dev/null
+++ b/software/ros_packages/rover2_control_interface/msg/LightControlMessage.msg
@@ -0,0 +1,2 @@
+# 0 off, 1 infrared, 2 led
+uint8 light_mode
diff --git a/software/rover-container.sh b/software/rover-container.sh
index cc3f0be0..e51e215d 100644
--- a/software/rover-container.sh
+++ b/software/rover-container.sh
@@ -1,2 +1,2 @@
-sudo docker build -t ros2 .
-sudo docker run -dit -v /dev:/dev --privileged --net=host --name rover2 ros2
+sudo docker build -t ros2humble -f Dockerfile.roverhumble .
+sudo docker run -dit -v /dev:/dev --privileged --net=host --name rover2 ros2humble
diff --git a/software/scripts/equipment_servicing_interface.py b/software/scripts/equipment_servicing_interface.py
deleted file mode 100644
index 1f42ab76..00000000
--- a/software/scripts/equipment_servicing_interface.py
+++ /dev/null
@@ -1,22 +0,0 @@
-import socket
-import sys
-
-# Create a UDP socket
-messages = ["HELP", "LOGIN MTECH GITRDONE", "STATUS", "START", "STOP", "LOGOUT"]
-
-sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
-
-server_address = (sys.argv[1], 4547)
-
-commands = []
-commands.append(sys.argv[2])
-
-if len(sys.argv) > 3:
- commands.append(sys.argv[3])
-
-for command in commands:
- if command in messages:
- sent = sock.sendto(command, server_address)
-
- data, server = sock.recvfrom(4096)
- print data
diff --git a/software/scripts/example.py b/software/scripts/example.py
new file mode 100644
index 00000000..5f60f95d
--- /dev/null
+++ b/software/scripts/example.py
@@ -0,0 +1,19 @@
+from socket import *
+from PIL import Image
+from io import BytesIO
+import base64
+import cv2
+import numpy as np
+
+sock = socket(AF_INET, SOCK_DGRAM)
+sock.bind(("192.168.1.100", 6969))
+while True:
+ data = bytearray(sock.recv(65536))
+ if (len(data) < 10):
+ continue
+ with open("/home/groundstation/leg.png", 'wb') as f:
+ f.write(data)
+ im = Image.open("/home/groundstation/leg.png")
+ npImage = np.array(im)
+ cv2.imshow('leg', npImage)
+ cv2.waitKey(1)
diff --git a/software/scripts/gps_light.sh b/software/scripts/gps_light.sh
new file mode 100755
index 00000000..62203d8e
--- /dev/null
+++ b/software/scripts/gps_light.sh
@@ -0,0 +1,4 @@
+ros2 topic pub /tower/light/control rover2_control_interface/msg/LightControlMessage "{light_mode: 1}" --once
+ros2 topic pub /tower/light/control rover2_control_interface/msg/LightControlMessage "{light_mode: 2}" --once
+ros2 topic pub /tower/light/control rover2_control_interface/msg/LightControlMessage "{light_mode: 0}" --once
+ros2 topic echo /tower/status/gps
diff --git a/software/scripts/gripper_test.sh b/software/scripts/gripper_test.sh
new file mode 100755
index 00000000..a6a7fd50
--- /dev/null
+++ b/software/scripts/gripper_test.sh
@@ -0,0 +1,4 @@
+ros2 topic pub /gripper/control rover2_control_interface/msg/GripperControlMessage "{target: 500}" -t 10
+ros2 topic pub /gripper/control rover2_control_interface/msg/GripperControlMessage "{toggle_light: True}" -t 2
+ros2 topic pub /gripper/control rover2_control_interface/msg/GripperControlMessage "{toggle_laser: True}" -t 2
+ros2 topic pub /gripper/control rover2_control_interface/msg/GripperControlMessage "{should_home: True}" --once
diff --git a/software/scripts/scimech_test.sh b/software/scripts/scimech_test.sh
new file mode 100755
index 00000000..1c0a8471
--- /dev/null
+++ b/software/scripts/scimech_test.sh
@@ -0,0 +1,10 @@
+ros2 topic pub /mining/control/linear rover2_control_interface/msg/DrillControlMessage "{speed: 65535, direction: 0}" -r 10 -t 30
+ros2 topic pub /mining/control/linear rover2_control_interface/msg/DrillControlMessage "{speed: 65535, direction: 1}" -r 10 -t 30
+ros2 topic pub /mining/drill/control rover2_control_interface/msg/DrillControlMessage "{speed: 65535, direction: 0}" -r 10 -t 30
+ros2 topic pub /mining/control/compartment rover2_control_interface/msg/MiningControlMessage "{compartment: 1}" --once
+sleep 1
+ros2 topic pub /mining/control/compartment rover2_control_interface/msg/MiningControlMessage "{compartment: 2}" --once
+sleep 1
+ros2 topic pub /mining/control/compartment rover2_control_interface/msg/MiningControlMessage "{compartment: 3}" --once
+sleep 1
+ros2 topic pub /mining/control/compartment rover2_control_interface/msg/MiningControlMessage "{compartment: 0}" --once
+
*/}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+