Writing a ROS Python driver for ChefBot

After uploading the embedded code to Launchpad, the next step is to handle the serial data from Launchpad and convert it to ROS Topics for further processing. The launchpad_node.py ROS Python driver node interfaces Tiva C LaunchPad to ROS. The launchpad_node.py file is on the script folder, which is inside the chefbot_bringup package. The following is the explanation of launchpad_node.py in important code sections:

#ROS Python client
import rospy
import sys
import time
import math

#This python module helps to receive values from serial port which execute in a thread
from SerialDataGateway import SerialDataGateway
#Importing required ROS data types for the code
from std_msgs.msg import Int16,Int32, Int64, Float32, String, Header, UInt64
#Importing ROS data type for IMU
from sensor_msgs.msg import Imu

The launchpad_node.py file imports the preceding modules. The main modules we can see is SerialDataGateway. This is a custom module written to receive serial...