Added plotting method choice

simulation/asv_simulator/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(asv_simulator)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake_python REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(vortex_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+
+ament_python_install_package(${PROJECT_NAME})
+
+install(DIRECTORY
+  launch
+  config
+  DESTINATION share/${PROJECT_NAME}
+)
+
+install(PROGRAMS
+asv_simulator/asv_simulator_node.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()

simulation/asv_simulator/asv_simulator/asv_simulator_node.py

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+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from asv_simulator.plotting_matplotlib import plot_matplotlib
+from asv_simulator.realtime_plotting_foxglove import plot_foxglove
+
+class PlottingNode(Node):
+    def __init__(self):
+        super().__init__('asv_simulator_node')
+
+        self.declare_parameter('plotting_method', 'matplotlib')
+        plotting_library = self.get_parameter('plotting_method').value
+
+        logger = self.get_logger()
+
+        if plotting_library == 'matplotlib':
+            plot_matplotlib(logger)
+        elif plotting_library == 'foxglove':
+            plot_foxglove(logger)
+        else:
+            self.get_logger().error("Invalid plotting method choice!")
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = PlottingNode()
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

simulation/asv_simulator/asv_simulator/plotting_matplotlib.py

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+def plot_matplotlib(logger):
+    logger.info("U chose matplotlib XD")

simulation/asv_simulator/asv_simulator/realtime_plotting_foxglove.py

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+def plot_foxglove(logger):
+    logger.info("U chose foxglove lol")

simulation/asv_simulator/launch/asv_simulator.launch.py

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+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, LogInfo
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'plotting_method',
+            default_value='matplotlib',
+            description='Choose the plotting library: matplotlib or foxglove'
+        ),
+        Node(
+            package='asv_simulator',
+            executable='asv_simulator_node.py',
+            name='asv_simulator_node',
+            output='screen',
+            parameters=[{'plotting_method': LaunchConfiguration('plotting_method')}]
+        )
+    ])

simulation/asv_simulator/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>asv_simulator</name>
+  <version>0.0.0</version>
+  <description>This package provides the implementation of the asv_simulator for the Vortex ASV.</description>
+  <maintainer email="[email protected]">vortex</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
+
+  <depend>rclpy</depend>
+  <depend>python-transforms3d-pip</depend>
+  <depend>geometry_msgs</depend>
+  <depend>vortex_msgs</depend>
+
+  <test_depend>python3-pytest</test_depend>
+
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>