Add SeaTrac node and network comms bridge

Author: rgov

configs/seatrac.yaml

@@ -0,0 +1,11 @@
+seatrac:
+  comms:
+    connection:
+      type: "UDP"
+      udp_rx: 62001
+      udp_tx: 62001
+      udp_address: "127.0.0.1"
+
+  outlets:
+    - name: "starlink"
+      outlet: 15

deps/deps.rosinstall

@@ -15,3 +15,7 @@
 - git:
     local-name: ros-triton-classifier
     uri: https://github.com/WHOIGit/ros-triton-classifier.git
+
+- git:
+    local-name: seatrac-api
+    uri: https://github.com/WHOIGit/seatrac-api.git

src/phyto_arm/launch/seatrac.launch

@@ -0,0 +1,12 @@
+<launch>
+    <!-- Most settings are in config.yaml, which is easier to edit -->
+    <rosparam command="load" file="$(arg config_file)" />
+
+    <node name="seatrac" pkg="seatrac" type="seatrac_node.py" required="true">
+        <remap from="~in" to="~comms/in" />
+        <remap from="~out" to="~comms/out" />
+    </node>
+
+    <node ns="seatrac" name="comms" pkg="ds_util_nodes" type="bridge_node"
+          required="true" />
+</launch>

src/phyto_arm/package.xml

@@ -33,6 +33,7 @@
     <exec_depend>ifcb</exec_depend>
     <exec_depend>jvl_motor</exec_depend>
     <exec_depend>rbr_maestro3_ctd</exec_depend>
+    <exec_depend>seatrac</exec_depend>
     <exec_depend>triton_classifier</exec_depend>
 
     <!-- For GPS -->