Make-Sub-Live button

[TheDinner22]

add a button to the gui that makes the sub live

what does "being live" entail?

1. starting localiztion (or checking to see that it's started already)
2. waiting for localization to actually start
3. resetting localization
4. starting controller

step 1 starting localization

At testing we usually just run this command in the terminal:
ros2 service call /subjugator_localization/enable std_srvs/srv/Empty

the service name is /subjugator_localization/enable
the service type is std_srvs/srv/Empty

if localization is already started, don't try to start it again!

Also if localization is already started, the Make-Sub-Live feature shouldn't really be available (see the section on resetting at the bottom for more info) 

step 2 waiting for localization to start

At the pool, we run ros2 topic echo /odometry/filtered

Find the message type here. It should already be in the typescript message types.

Pretty binary here is it publishing or isn't it? (topic_hz==0 or not equal to 0?)

step 3 resetting localization

Localization usually doesn't start at xyz=0,0,0 so we need to reset it.
At the pool, we usually run ros2 service call /subjugator_localization/reset std_srvs/srv/Empty

service name: /subjugator_localization/reset
service type: std_srvs/srv/Empty

there is no way to tell that this runs just wait ~1 second and you can trust that it has been reset

step 4 start controller

finally start the controller and the sub will be live!!!!
at the pool we run ros2 service call /pid_controller/enable std_srvs/srv/SetBool "{data: true}"

you know the drill :)

state of the sub considerations

1. For reasons I won't explain, if localization is started this entire Make-The-Sub-Live routine can't be run. If the /odometry/filtered topic is publishing, disable the button
2. leave the kill button and kill system alone (we want the kill system separate from this feature)

lowk css is optional rn

we will have people figma this you can just worry about the react stuff and the functionality

[adnansanaulla]

Created new branch for submission (submit-MakeSubLive). Pushed the button with all functionality but needs css styling.

[adnansanaulla]

Fixed bug where button would not display on GUI

[TheDinner22]

i press the button, it starts localization, but doesn't advance from there

seems to hang here forever:

[adnansanaulla]

i think it was due to an error with how it was waiting for odometry to start publishing. I fixed that part let me know if there are still issues.

[TheDinner22]

It's just a blank screen, no button no nothing

[adnansanaulla]

Interesting... I don't have that issue on my end. I'll stop by the lab tomorrow or tuesday to see why it's happening on your end.

[adnansanaulla]

Pretty sure i fixed it by checking for odometry's existence

[adnansanaulla]

will stop by lab on tuesday to bug fix in person