cannot get multiple nodes running

edit

I wrote a package with 2 nodes in python exactly how I have always done before, and it compiles without errors with catkin_make, but one of the nodes does not work. It does not publish or subscribe anything or give errors at all.

This is really confusing for me. I am posting my github: https://github.com/renanmb/boat_pid_c...

All the code is there, I just want to get the throttle_interpolator.py to work

The node throttle_interpolator.py should simply get the messages from pid_controller.py and make it compatible to VESC and respect the motor limits.

I would appreciate any help.

pid_controller.py

#!/usr/bin/env python

# Python
import sys
from math import pi

# ROS
import rospy
import tf
from dynamic_reconfigure.server import Server 
#from boat_controller.cfg import *
from boat_controller.cfg import YawDynamicConfig
from boat_controller.cfg import TwistDynamicConfig

from boat_controller.msg import Diagnose
#from boat_pid_controller.msg import *

from geometry_msgs.msg import Vector3
from geometry_msgs.msg import Twist
from std_msgs.msg import Float64
from nav_msgs.msg import Odometry 
from boat_controller.msg import Drive
from boat_controller.msg import Course
from sensor_msgs.msg import Imu 
#from std_srvs.srv import SetBool, SetBoolResponse, SetBoolRequest
from std_srvs.srv import Empty, EmptyResponse

# BSB
import pypid

class Node():
    def __init__(self, engaged=False, yaw_cntrl=True,vel_cntrl=True):
        # Detup Yaw Pid
        self.engaged = engaged
        self.yaw_cntrl = yaw_cntrl
        self.vel_cnrtl = vel_cntrl
        self.ypid = pypid.Pid(0.0, 0.0, 0.0)
        self.ypid.set_setpoint(0.0)
        #self.[id.set_inputisangle(True,pi)
        self.ypid.set_derivfeedback(True)
        fc = 20; #cutoff freq in Hz
        wc = fc*(2.0*pi) #cutoff freq in rad/s
        self.ypid.set_derivfilter(1, wc)
        self.ypid.set_maxIout(1.0)
        # Setup Velocity Pid
        self.vpid = pypid.Pid(0.0, 0.0, 0.0)
        self.vpid.set_setpoint(0.0)
        self.vpid.set_maxIout(1.0)
        #self.pid.set_inputisangle(Truempi)
        self.vpid.set_derivfeedback(True)
        fc = 20; # cutoff freq in Hz
        wc = fc*(2.0*pi) # cutoff freq in rad/s
        self.vpid.set_derivfilter(1,wc)
        # Initialize as none for now
        self.drivemsg = None
        self.publisher = None
        self.lasttime = None
        # For tuning PID
        self.vpubdebug = None
        self.ypubdebug = None

        # Type of yaw control
        self.yaw_type = 'yaw'

    def toggle_engaged_callback(self,req):
        self.engaged = not self.engaged
        rospy.loginfo('Toggling engaged status - new status is...')
        rospy.loginfo(self.engaged)

        if self.engaged:
            self.ypid.I = 0.0
            self.vpid.I = 0.0
        return EmptyResponse()

    def twist_callback(self,msg):
        self.vpid.set_setpoint(msg.linear.x)
        self.ypid.set_setpoint(msg.angular.z)

    def course_callback(self,msg):
        self.ypid.set_setpoint(msg.yaw)
        self.vpid.set_setpoint(msg.speed)

    def odom_callback(self,msg):
        # calculate time step
        now = rospy.get_time()
        if self.lasttime is None:
            self.lasttime = now
            return
        dt = now-self.lasttime
        self.lasttime = now
        # Yaw control
        if self.yaw_cntrl:
            if self.yaw_type=='yaw_rate':
                yaw_fdbk = msg,twist.twist.angular.z
            elif self.yaw_type=='yaw':
                euler = tf.transformations.euler_from_quaternion(
(msg.pose.pose.orientation.x,
msg.pose.pose.orientation.y,
msg.pose.pose.orientation.z,
msg.pose.pose.orientation.w))
                yaw_fdbk = euler[2] # yaw
            yout = self.ypid.execute(dt,yaw_fdbk)
            torque = yout ...