Major changes. Refactored. Drive now arbitrates between FrSky and ground station.

software/ros_packages/ground_station/scripts/ground_station_launch.sh

@@ -0,0 +1,17 @@
+#!/usr/bin/env bash
+
+current_folder_name="scripts"
+current_folder_name_length=`expr length $current_folder_name`
+
+launch_dir="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+launch_dir_length=`expr length $launch_dir`
+
+launch_dir_length_without_current_folder=$(($launch_dir_length-$current_folder_name_length))
+
+script_launch_path="${launch_dir:0:$launch_dir_length_without_current_folder}/src"
+cd $script_launch_path
+
+sleep 5
+
+export DISPLAY=:0
+python ground_station.py

software/ros_packages/ground_station/src/Framework/DriveSystems/RoverDriveSender.py

@@ -15,7 +15,7 @@ from rover_control.msg import DriveCommandMessage
 #####################################
 GAME_CONTROLLER_NAME = "Logitech Logitech Extreme 3D Pro"
 
-DEFAULT_DRIVE_COMMAND_TOPIC = "command_control/groundstation_drive"
+DEFAULT_DRIVE_COMMAND_TOPIC = "/rover_control/command_control/ground_station_drive"
 
 DRIVE_COMMAND_HERTZ = 15
 
@@ -149,8 +149,6 @@ class RoverDriveSender(QtCore.QThread):
         self.run_thread_flag = True
 
         self.joystick = LogitechJoystick()
-        while not self.joystick.ready:
-            self.msleep(100)
 
         # ########## Class Variables ##########
         # Publishers

software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoCoordinator.py

@@ -127,6 +127,8 @@ class RoverVideoCoordinator(QtCore.QThread):
 
         for topics_group in topics:
             main_topic = topics_group[0]
+            if "heartbeat" in main_topic:
+                continue
             camera_name = main_topic.split("/")[2]
             names.append(camera_name)
 

software/ros_packages/ground_station/src/Framework/VideoSystems/RoverVideoReceiver.py

@@ -127,6 +127,8 @@ class RoverVideoReceiver(QtCore.QThread):
 
         for topics_group in topics:
             main_topic = topics_group[0]
+            if "heartbeat" in main_topic:
+                continue
             camera_name = main_topic.split("/")[3]
             resolution_options.append(camera_name)
 

software/ros_packages/ground_station/src/ground_station.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python
 #####################################
 # Imports
 #####################################