Writing a ROS Python driver for ChefBot

After uploading the embedded code to LaunchPad, the next step is to handle the serial data from LaunchPad and convert it to ROS topics for further processing. The launchpad_node.py ROS Python driver node interfaces Tiva-C LaunchPad with ROS. The launchpad_node.py file is in the script folder, which is inside the ChefBot_bringup package. The following is an explanation of the important code sections of launchpad_node.py:

#ROS Python client 
import rospy 
import sys 
import time 
import math 
 
#This python module helps to receive values from serial port which execute in a thread 
from SerialDataGateway import SerialDataGateway 
#Importing required ROS data types for the code 
from std_msgs.msg import Int16,Int32, Int64, Float32, 
 String, Header, UInt64 
#Importing ROS data type for IMU 
from sensor_msgs.msg import Imu 

The launchpad_node.py file imports the preceding modules. The main module we can see is SerialDataGateway. This is a custom module written...