feat: changes to API

Updates to add GeoPose and Attitude options for sensor data.

launch/api.launch.py

@@ -10,7 +10,7 @@ def generate_launch_description():
     host_arg = DeclareLaunchArgument("host", default_value=TextSubstitution(text="localhost"))
     user_arg = DeclareLaunchArgument("user", default_value=TextSubstitution(text=""))
     passwd_arg = DeclareLaunchArgument("password", default_value=TextSubstitution(text="QWERTY"))
-    type_arg = DeclareLaunchArgument("type", default_value=TextSubstitution(text=""))    
+    type_arg = DeclareLaunchArgument("type", default_value=TextSubstitution(text=""))
     camera_base_url_arg = DeclareLaunchArgument("camera_base_url", default_value=TextSubstitution(text=""))
     have_camera_arg = DeclareLaunchArgument("have_camera", default_value=TextSubstitution(text="false"))
     recv_position_arg = DeclareLaunchArgument("recv_position", default_value=TextSubstitution(text="false"))
@@ -18,16 +18,16 @@ def generate_launch_description():
     available_tasks_arg = DeclareLaunchArgument("available_tasks", default_value=TextSubstitution(text='["move-to", "move-path"]'))
     available_sensors_arg = DeclareLaunchArgument("available_sensors", default_value=TextSubstitution(text='["position", "heading", "course", "speed"]'))
     supported_levels_arg = DeclareLaunchArgument("supported_levels", default_value=TextSubstitution(text='["sensor", "direct execution", "tst execution"]'))
-    camera_tags_arg = DeclareLaunchArgument("camera_tags", default_value=TextSubstitution(text='["", "_tst"]'))    
-    prefix2_arg = DeclareLaunchArgument("prefix2", default_value=TextSubstitution(text="unit"))    
-    prefix3_arg = DeclareLaunchArgument("prefix3", default_value=TextSubstitution(text="ground"))    
+    camera_tags_arg = DeclareLaunchArgument("camera_tags", default_value=TextSubstitution(text='["", "_tst"]'))
+    prefix2_arg = DeclareLaunchArgument("prefix2", default_value=TextSubstitution(text="unit"))
+    prefix3_arg = DeclareLaunchArgument("prefix3", default_value=TextSubstitution(text="ground"))
     prefix4_arg = DeclareLaunchArgument("prefix4", default_value=TextSubstitution(text="simulation"))
     agent_model_arg = DeclareLaunchArgument("agent_model", default_value=TextSubstitution(text="rotary.drone"))
     ome_ws_arg = DeclareLaunchArgument("ome_ws", default_value=TextSubstitution(text="wss://ome.waraps.org:3334/"))
     reduced_rate_arg = DeclareLaunchArgument("reduced_rate", default_value='false')
     airspace_arg = DeclareLaunchArgument("airspace", default_value='false')
     stride_arg = DeclareLaunchArgument("stride", default_value='true')
-    
+
     return LaunchDescription([
         ns_arg,
         port_arg,
@@ -54,16 +54,16 @@ def generate_launch_description():
         Node(
             package='lrs_json_api',
             output='screen',
-            emulate_tty=True,            
+            emulate_tty=True,
             namespace=LaunchConfiguration('ns'),
             executable='bridge',
             name='bridge',
             parameters=[{
-                "have_camera": LaunchConfiguration('have_camera'),                
-                "recv_position": LaunchConfiguration('recv_position'),                
-                "recv_all_positions": LaunchConfiguration('recv_all_positions'),                
-                "camera_base_url": LaunchConfiguration('camera_base_url'),                
-                "camera_tags": LaunchConfiguration('camera_tags'),                
+                "have_camera": LaunchConfiguration('have_camera'),
+                "recv_position": LaunchConfiguration('recv_position'),
+                "recv_all_positions": LaunchConfiguration('recv_all_positions'),
+                "camera_base_url": LaunchConfiguration('camera_base_url'),
+                "camera_tags": LaunchConfiguration('camera_tags'),
                 "waraps_mqtt_password": LaunchConfiguration('password'),
                 "waraps_mqtt_user": LaunchConfiguration('user'),
                 "mqtt_port": LaunchConfiguration('port'),
@@ -86,7 +86,7 @@ def generate_launch_description():
 #        Node(
 #            package='lrs_json_api',
 #            output='screen',
-#            emulate_tty=True,            
+#            emulate_tty=True,
 #            namespace=LaunchConfiguration('ns'),
 #            executable='exec_server',
 #            name='exec_server',