added periodic greeting (#71)

* added periodic greeting

* bump submodules

* bump

* bump submodule

* format

* bump hivemind

* Added button topics

* bump submodules

* bump submodules

Author: xgroleau

contrib/HiveConnect

@@ -9,7 +9,7 @@ function(propolis_fetch_populate)
     FetchContent_Declare(
             ${PROJECT_NAME}_propolis
             GIT_REPOSITORY  https://github.com/SwarmUS/Propolis
-            GIT_TAG         bf4480f87de894bca5ba03bfee3cc9bc63c1369f
+            GIT_TAG         1a482b8d81fb5c7f0cd571835dd4942d1a2e4488
             GIT_PROGRESS    TRUE
     )
     set(PROPOLIS ${PROJECT_NAME}_propolis)

contrib/HiveMind

@@ -80,7 +80,7 @@ int main(int argc, char** argv) {
         nodeHandle.advertise<swarmus_ros_navigation::MoveByMessage>(moveByTopic, 1000);
     ROS_INFO("Publishing moveBy on %s", moveByPublisher.getTopic().c_str());
     Logger logger;
-    HiveMindBridge bridge(port, logger);
+    HiveMindBridge bridge(port, logger, 5 * RATE_HZ);
 
     // Register custom actions
     CallbackFunction moveByCallback = [&](CallbackArgs args) -> std::optional<CallbackReturn> {
@@ -116,6 +116,7 @@ int main(int argc, char** argv) {
         CallbackArgs returnArgs;
         returnArgs.push_back(FunctionCallArgumentDTO(isRobotOk));
 
+        ROS_INFO("Getting status: %d", isRobotOk);
         CallbackReturn cbReturn("getStatusReturn", returnArgs);
 
         return cbReturn;

contrib/HiveMindBridge

@@ -46,6 +46,9 @@
 
             <param name="log_level" value="Warn" />
 
+            <!-- Buttons topic-->
+            <param name="button_topic" type="str" value="/agent_$(arg agent_id)/user_interface/button" />
+
             <!-- Interloc refresh rate in Hz -->
             <param name="interloc_refresh_rate" value="$(arg interloc_refresh_rate)" />
         </node>

src/hive_mind_bridge/cmake/propolis.cmake

@@ -31,12 +31,12 @@ int main(int argc, char** argv) {
     ros::Rate loopRate(RATE_HZ);
     std::thread navigationThread(navigationLoop, &navigation, loopRate);
 
-    int port = nodeHandle->param("TCP_SERVER_PORT", 55551);
+    int port = nodeHandle->param("TCP_SERVER_PORT", 7001);
     std::string moveByTopic = nodeHandle->param("moveByTopic", std::string("navigation/moveBy"));
     ros::Publisher moveByPublisher =
         nodeHandle->advertise<swarmus_turtlebot::MoveBy>(moveByTopic, 1000);
     Logger logger;
-    HiveMindBridge bridge(port, logger);
+    HiveMindBridge bridge(port, logger, 5 * RATE_HZ);
 
     // Register custom actions
     CallbackFunction moveByCallback = [&](CallbackArgs args) -> std::optional<CallbackReturn> {