Merge pull request #324 from vortexntnu/enhancement/python3

Enhancement/python3

auv_setup/config/robots/beluga.yaml

@@ -188,7 +188,7 @@ temperature:
 i2c:
   pca9685:
     address: 0x40
-    bus: 8
+    bus: 1
   psm:
     address_voltage: 0x6a
     address_current: 0x69

auv_setup/launch/beluga.launch

@@ -5,7 +5,8 @@
   <!-- INPUT ARGS -->
   <arg name="type" default="real"/> <!-- real | simulator -->
   <arg name="localization" default="ekf"/> <!-- ekf | eskf-->
-
+  <arg name="computer" default="xavier" /> <!-- xavier | rpi -->
+  <arg name="dvl_ip" default=""/>
   <!-- PARAMETERS -->
   <rosparam command="load" file="$(find auv_setup)/config/environments/trondheim_freshwater.yaml"/>
   <rosparam command="load" file="$(find auv_setup)/config/robots/beluga.yaml"/>
@@ -20,14 +21,16 @@
     <include file="$(find internal_status)/launch/internal_status.launch" pass_all_args="true" />
 
     <!-- For launching the manipulator (gripper, torpedo, lights) nodes -->
-    <include file="$(find manipulators_launch)/launch/manipulators.launch" pass_all_args="true"/>
+    <!-- <include file="$(find manipulators_launch)/launch/manipulators.launch" pass_all_args="true"/> -->
 
     <!-- IMU -->
     <node pkg="driver_stim300" type="stim300_driver_node" name="driver_stim300"/>
 
     <!-- DVL -->	
     <!-- <node pkg="dvl1000_ros" type="publisherDVL1000.py" name="publisherDVL1000" /> -->
-    <!-- <node pkg="uns_driver" type="uns_ros_driver.py" name="uns_driver" output="screen"/> -->  
+    <node pkg="uns_driver" type="uns_ros_driver.py" name="uns_driver" output="screen">
+        <param name="uns_ip" value="$(arg dvl_ip)"/>
+    </node>  
 
     <!-- Driver for communication between Xavier and thrusters over PCA9685 board -->
     <node pkg="thruster_interface" type="thruster_interface_node.py" name="thruster_interface" output="screen" />

manipulators/gripper_interface/scripts/gripper_interface_node.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/python3
 
 import rospy
 from sensor_msgs.msg import Joy

manipulators/lights_interface/scripts/lights_interface_node.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/python3
 
 import rospy
 from sensor_msgs.msg import Joy

manipulators/torpedo/scripts/torpedo_launch_service.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/python3
 # coding: UTF-8
 
 import rospy
@@ -47,4 +47,4 @@ def execute(self, req):
 if __name__ == "__main__":
     node = TorpedoLaunch()
     while not rospy.is_shutdown():
-        rospy.spin()
+        rospy.spin()

mission/anomaly_detection/cfg/BatterySimulator.cfg

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/python3
 
 PACKAGE = "anomaly_detection"
 

mission/anomaly_detection/scripts/battery_simulator.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/python3
 
 # Written by Kristoffer Rakstad Solberg, Student
 # Copyright (c) 2020 Manta AUV, Vortex NTNU.

mission/finite_state_machine/scripts/four_corner_mission.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/python3
 
 import rospy
 from smach import Sequence

mission/finite_state_machine/scripts/fsm_helper.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/python3
 # coding: UTF-8
 
 from enum import IntEnum

mission/finite_state_machine/scripts/go_to_and_inspect_pt_sm.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/python3
 
 import rospy
 import numpy as np

mission/finite_state_machine/scripts/goal_pose_server.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/python3
 
 import rospy
 from geometry_msgs.msg import Point

mission/finite_state_machine/scripts/perception_simulator.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/python3
 
 import rospy
 from std_msgs.msg import String

mission/finite_state_machine/scripts/pooltest.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/python3
 # coding: UTF-8
 
 from math import pi

mission/finite_state_machine/scripts/prequalification_fsm.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/python3
 
 import rospy
 from smach import StateMachine

mission/finite_state_machine/scripts/robosub_fsm.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/python3
 
 import rospy
 from smach import StateMachine

mission/finite_state_machine/scripts/simtest.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/python3
 # coding: UTF-8
 
 import rospy

mission/finite_state_machine/scripts/simulator_state_machine.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/python3
 
 import rospy
 from smach import StateMachine

mission/finite_state_machine/setup.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/python3
 from distutils.core import setup
 from catkin_pkg.python_setup import generate_distutils_setup
 

mission/finite_state_machine/src/finite_state_machine/common_states.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/python3
 
 from enum import IntEnum
 

mission/finite_state_machine/src/finite_state_machine/go_home.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/python3
 
 from math import pi
 

mission/finite_state_machine/src/finite_state_machine/helper.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/python3
 
 import math
 from enum import IntEnum

mission/finite_state_machine/src/finite_state_machine/system_identification.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/python3
 
 import rospy
 from smach import State