Problem2

DarshJeevan_EnC_Inductions

This is a repo made for the induction process of the Electronics and Controls subsystem, Project Kratos.

Q1

Firstly we define classes RoverStatusPublisher and RoverStatusSubscriber which inherits the necessary libraries from Node. At rover_status_publisher.py, it initialises and defines publisher objects, and sets up a timer with a callback function at a frequency of 2Hz. At rover_status_subscriber.py, it initialises and defines subscriber objects, and sets up a timer with a callback function which recieves the message and prints it to the console. The callback function timer_callback assigns values and thus publishes them to their respective topics, along with a message to the console.

Each of the messages has their own respective topic and gets published to their own.

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Q2

Here a custom RoverStatus.msg file is made and imported to the files. It's very similar to the first question but instead of publishing it under 3 different topics, it is assigned to the fields of the message and published under one topic.

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Q3

Everything is in the scanned file. It is the standard Inverse Kinematic formulae and has been verified using the Forward Kinematic formulae too.

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