fix/ros gateway cell voltage

.github/actions/build-gateway/action.yaml

@@ -41,5 +41,5 @@ runs:
       env:
         ROS_DISTRO: ${{ inputs.ros_distro }}
         PLATFORMS: ${{ steps.builder.outputs.platforms }}
-        DOCKER_BUILDER: ${{ steps.builder.outputs.name }}
+        BUILDER: ${{ steps.builder.outputs.name }}
         VERSION_TAGS: ${{ inputs.tags }}

ros-gateway/ros-package/gateway/battery.py

@@ -66,7 +66,7 @@ def __init__(self, battery_monitor):
     def __publish_cell_voltages(self, msg):
         # If first message received is for the last 3 cells, skip it
         # If something went wrong with the reception order, we also skip it
-        if (msg.data[0] == 1 and len(self.cell_voltages) <= 3) or (
+        if (msg.data[0] == 1 and len(self.cell_voltages) < 3) or (
             msg.data[0] == 0 and len(self.cell_voltages) > 0
         ):
             self.cell_voltages.clear()
@@ -79,9 +79,9 @@ def __publish_cell_voltages(self, msg):
         if len(self.cell_voltages) >= 6:
             cell_voltage_msg = msgtype.UInt16MultiArray()
             cell_voltage_msg.data = self.cell_voltages
-            self.publisher.publish(cell_voltage_msg)
+            self.cell_voltages_publisher.publish(cell_voltage_msg)
             self.get_logger().debug(
-                f'Publishing {self.topic}: "{cell_voltage_msg.data}"'
+                f'Publishing {self.cell_voltages_topic}: "{cell_voltage_msg.data}"'
             )
 
             self.cell_voltages.clear()

scripts/build-ros-gateway.sh

@@ -11,8 +11,9 @@ Build the ros-gateway docker image. Requires docker to be installed
 and usable without sudo.
 
 args:
-    --help                show this help
-    --push                push containers
+    --help      show this help
+    --local     build local version for testing with tag "rover-ros-gateway-test"
+    --push      push containers
 
 default env vars:
     ROS_DISTRO=jazzy                                        ROS distro codename to build
@@ -39,6 +40,11 @@ while [[ $# -gt 0 ]]; do
         exit 0
         ;;
 
+    --local)
+        LOCAL="true"
+        shift 1
+        ;;
+
     --push)
         PUSH="true"
         shift 1
@@ -88,9 +94,17 @@ if ! docker buildx ls | grep "${BUILDER}" >/dev/null; then
         --bootstrap
 fi
 
-docker buildx --builder "${BUILDER}" build \
-    -f "${DOCKERFILE}" \
-    --platform "${PLATFORMS}" \
-    --build-arg ROS_DISTRO="${ROS_DISTRO}" \
-    "${TAG_ARGS[@]}" "${OUTPUT_ARGS[@]}" "${CI_ARGS[@]}" \
-    "${BUILD_CONTEXT}"
+if [[ -z ${LOCAL} ]]; then
+    docker buildx --builder "${BUILDER}" build \
+        -f "${DOCKERFILE}" \
+        --platform "${PLATFORMS}" \
+        --build-arg ROS_DISTRO="${ROS_DISTRO}" \
+        "${TAG_ARGS[@]}" "${OUTPUT_ARGS[@]}" "${CI_ARGS[@]}" \
+        "${BUILD_CONTEXT}"
+else
+    docker build \
+        -f "${DOCKERFILE}" \
+        -t rover-ros-gateway-test \
+        --build-arg ROS_DISTRO="${ROS_DISTRO}" \
+        "${BUILD_CONTEXT}"
+fi