From 058365d584192996329b130eec534f84ce7e0e78 Mon Sep 17 00:00:00 2001
From: Mrinal Jain <2mrinaljain@gmail.com>
Date: Tue, 14 Jan 2025 19:10:31 -0500
Subject: [PATCH] launch heartbeat in physical bringup

---
 urc_bringup/launch/bringup.launch.py | 26 ++++++++++++++++----------
 1 file changed, 16 insertions(+), 10 deletions(-)

diff --git a/urc_bringup/launch/bringup.launch.py b/urc_bringup/launch/bringup.launch.py
index f1edf1e8..f5082fe1 100644
--- a/urc_bringup/launch/bringup.launch.py
+++ b/urc_bringup/launch/bringup.launch.py
@@ -49,6 +49,12 @@ def generate_launch_description():
         get_package_share_directory("urc_bringup"), "config", "nmea_serial_driver.yaml"
     )
 
+    heartbeat_node = Node(
+        package="urc_bringup",
+        executable="urc_bringup_HeartbeatPublisher",
+        parameters=[{"heartbeatInterval": 1000}],
+    )
+
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
@@ -69,7 +75,7 @@ def generate_launch_description():
     load_joint_state_broadcaster = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["-p", controller_config_file_dir, "joint_state_broadcaster"]
+        arguments=["-p", controller_config_file_dir, "joint_state_broadcaster"],
     )
 
     load_drivetrain_controller = Node(
@@ -81,7 +87,7 @@ def generate_launch_description():
     load_status_light_controller = Node(
         package="controller_manager",
         executable="spawner",
-        arguments=["-p", controller_config_file_dir, "status_light_controller"]
+        arguments=["-p", controller_config_file_dir, "status_light_controller"],
     )
 
     twist_mux_node = Node(
@@ -93,17 +99,17 @@ def generate_launch_description():
     launch_gps = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             os.path.join(
-                pkg_nmea_navsat_driver,
-                "launch", "nmea_serial_driver.launch.py"
+                pkg_nmea_navsat_driver, "launch", "nmea_serial_driver.launch.py"
             )
         )
     )
 
     launch_gps = Node(
-        package='nmea_navsat_driver',
-        executable='nmea_serial_driver',
-        output='screen',
-        parameters=[gps_config])
+        package="nmea_navsat_driver",
+        executable="nmea_serial_driver",
+        output="screen",
+        parameters=[gps_config],
+    )
 
     launch_vectornav = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
@@ -128,8 +134,7 @@ def generate_launch_description():
     )
 
     odom_frame_node = Node(
-        package="urc_tf", executable="urc_tf_WorldFrameBroadcaster",
-        output="screen"
+        package="urc_tf", executable="urc_tf_WorldFrameBroadcaster", output="screen"
     )
 
     return LaunchDescription(
@@ -154,5 +159,6 @@ def generate_launch_description():
             rosbridge_server_node,
             odom_frame_node,
             launch_vectornav,
+            heartbeat_node,
         ]
     )