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...