feat: add basic ROS rover scripts

basic/lift_rmc2.py

@@ -0,0 +1,65 @@
+#!/usr/bin/env python3
+"""Поднимает или опускает лифт RMC2 через штатный ROS-топик."""
+
+import argparse
+import time
+
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import DurabilityPolicy, QoSProfile, ReliabilityPolicy
+from std_msgs.msg import Float64, String
+
+
+def main():
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("state", choices=("up", "down"))
+    parser.add_argument("--wait", type=float, default=6.0, help="Сколько ждать статус, с")
+    args = parser.parse_args()
+
+    rclpy.init()
+    node = Node("mvch_basic_lift")
+    exit_message = None
+    try:
+        publisher = node.create_publisher(Float64, "/RMC2/lift", 10)
+        statuses = []
+        status_qos = QoSProfile(
+            depth=1,
+            reliability=ReliabilityPolicy.RELIABLE,
+            durability=DurabilityPolicy.TRANSIENT_LOCAL,
+        )
+        node.create_subscription(
+            String,
+            "/RMC2/lift_status",
+            lambda msg: statuses.append(msg.data),
+            status_qos,
+        )
+
+        height = 0.05 if args.state == "up" else 0.0
+        expected = "raised" if args.state == "up" else "lowered"
+        print(f"RMC2 lift: {args.state}, команда {height}")
+        for _ in range(5):
+            publisher.publish(Float64(data=height))
+            rclpy.spin_once(node, timeout_sec=0.1)
+
+        deadline = time.monotonic() + args.wait
+        while time.monotonic() < deadline:
+            rclpy.spin_once(node, timeout_sec=0.1)
+            if statuses and statuses[-1].strip().lower() == expected:
+                break
+
+        if statuses and statuses[-1].strip().lower() == expected:
+            print(f"Статус: {statuses[-1]}")
+        else:
+            current = statuses[-1] if statuses else "нет данных"
+            exit_message = (
+                f"Лифт не подтвердил {expected}; текущий статус: {current}"
+            )
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+    if exit_message:
+        raise SystemExit(exit_message)
+
+
+if __name__ == "__main__":
+    main()