create relais control node

src/relais_control/package.xml

@@ -3,9 +3,10 @@
 <package format="3">
   <name>relais_control</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
+  <description>package to control the relais that enables Pixhawk RX and TX communication</description>
-  <maintainer email="semmer99@gmail.com">ubuntu</maintainer>
+    <maintainer email="semmer99@gmail.com">ubuntu</maintainer>
-  <license>TODO: License declaration</license>
+  <license>Apache License 2.0</license>
+    <exec_depend>rclpy</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

src/relais_control/relais_control/relais_controller.py

@@ -0,0 +1,48 @@
+import rclpy
+from rclpy.node import Node
+try:
+    import RPi.GPIO as GPIO
+except RuntimeError:
+    print("Error importing RPi.GPIO!  This is probably because you need superuser privileges.  You can achieve this by using 'sudo' to run your script")
+
+class RelaisController(Node):
+    def __init(self):
+        super().__init__('relais_controller')
+        self.relais1_pin = 17
+        self.relais2_pin = 27
+        self.init_gpio()
+        self.turn_relais_on()
+    
+    def init_gpio(self):
+        GPIO.setwarnings(False)
+
+        self.get_logger().info(GPIO.RPI_INFO)
+
+        GPIO.setmode(GPIO.BCM)
+
+        GPIO.setup(self.relais1_pin, GPIO.OUT)
+        GPIO.setup(self.relais2_pin, GPIO.OUT)
+        self.get_logger().info("GPIO initialized")
+
+    def turn_relais_on(self):
+        GPIO.output(self.relais1_pin, GPIO.HIGH)
+        GPIO.output(self.relais2_pin, GPIO.HIGH)
+        self.get_logger().info("Relais turned on")
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    relais_controller = RelaisController()
+
+    relais_controller.spin()
+
+    # Destroy the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+    relais_controller.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

src/relais_control/setup.py

@@ -20,6 +20,7 @@ setup(
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
+            'relais_controller = relais_control.relais_controller:main'
         ],
     },
 )