src/api_communication/api_communication/api_listener.py

@@ -1,23 +1,30 @@
 import rclpy
 from rclpy.node import Node
 
+from drone_services.msg import DroneStatus
+
 import asyncio
 import websockets.server
-import threading
+
+
 
 class ApiListener(Node):
     def __init__(self):
         super().__init__('api_listener')
         self.get_logger().info('ApiListener node started')
-        self.messages = 0
+        self.drone_status_subscriber = self.create_subscription(DroneStatus, '/drone/status', self.drone_status_callback, 10)
         self.server = None
     
+    def drone_status_callback(self, msg):
+        self.get_logger().info('Received drone battery and cpu: {0} {1}'.format(msg.battery_percentage,msg.cpu_usage))
+
     async def spin(self):
         self.get_logger().info('Starting API')
         self.server = await websockets.serve(self.api_handler, '0.0.0.0', 9001)
         self.get_logger().info('API started')
         await self.server.wait_closed()
     
+    
     async def api_handler(self, websocket):
         try:
             while rclpy.ok():

src/api_communication/package.xml

@@ -7,6 +7,7 @@
   <maintainer email="semmer99@gmail.com">sem</maintainer>
   <license>Apache License 2.0</license>
   <depend>rclpy</depend>
+  <depend>drone_services</depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>