Consumers handle communication to ROS2 topics and services, as well as frontend websockets

With the 25' school year, we have switched from one main consumers.py file to multiple consumers to increase the bandwidth and reduce latency to the frontend.

Each consumer corresponds to a core function of the rover, such as the robotic arm, autonomous navigation, etc.

---

Check which websockets a certain mission uses

• auton
• drive
• nav
• science
• waypoints

• arm
• drive
• mast
• nav
• waypoints

• science

• arm
• mast
• nav
• science
• waypoints

---

Check below to see which consumer handles a topic or service

websocket: arm

• arm_throttle_cmd
• ee_pos_cmd
• ee_vel_cmd
• controller_cmd_vel
• sa_throttle_cmd

• arm_controller_state
• arm_joint_data

• ra_controller
• ra_mode
• sa_controller
• sa_mode

---

websocket: auton

• enable_teleop
• enable_auton

• teleop_enable
• auton_enable

---

websocket: drive

• joystick_cmd_vel

• drive_left_controller_data
• drive_right_controller_data
• drive_controller_data

• joystick

---

websocket: mast

• mast_gimbal_throttle_cmd

• mast_keyboard

---

websocket: nav

• nav_state
• gps/fix
• basestation/position
• drone_odometry

---

websocket: science

• led
• science_thermistors
• science_heater_state
• science_oxygen_data
• science_methane_data
• science_uv_data
• science_temperature_data
• science_humidity_data
• sa_controller_state
• sa_gear_diff_position

• science_change_heater_auto_shutoff_state
• sa_enable_limit_switch_sensor_actuator
• sa_gear_diff_set_position
• science_enable_heater_<name> (one per name in heater_names)
• science_enable_white_led_a
• science_enable_white_led_b

• heater_enable
• set_gear_diff_pos
• auto_shutoff
• white_leds
• ls_toggle

---

websocket: waypoints

• save_auton_waypoint_list
• save_basic_waypoint_list
• save_current_auton_course
• save_current_basic_course
• delete_auton_waypoint_from_course
• get_basic_waypoint_list
• get_auton_waypoint_list
• get_current_basic_course
• get_current_auton_course

---