_node fix

wave_rover_controller/wave_rover_node.py

@@ -25,9 +25,9 @@ class WaveRoverNode(Node):
         self._serial_port = self.get_parameter('serial_port').value
         self._baudrate = self.get_parameter('baudrate').value
 
-        fan_pin = self._node.get_parameter('fan_pin').value
+        fan_pin = self.get_parameter('fan_pin').value
         self._gpio_controller = GPIOController(fan_pin)
-        self._fan_time = self._node.get_parameter('fan_time').value
+        self._fan_time = self.get_parameter('fan_time').value
         self._fe_burst_timer = None
 
         wheel_max = 0.5 # popugais
@@ -48,9 +48,9 @@ class WaveRoverNode(Node):
                 port=self._serial_port, baudrate=self._baudrate, timeout=1.0
             )
             time.sleep(0.5)
-            self._node.get_logger().info(f'Подключено к {self._serial_port}')
+            self.get_logger().info(f'Подключено к {self._serial_port}')
         except SerialException as e:
-            self._node.get_logger().error(f'Ошибка serial: {e}')
+            self.get_logger().error(f'Ошибка serial: {e}')
             self._serial_conn = None
 
     def _send_json_command(self, command: dict):
@@ -60,28 +60,28 @@ class WaveRoverNode(Node):
         try:
             json_str = json.dumps(command)
             self._serial_conn.write(json_str.encode() + b'\n')
-            self._node.get_logger().debug(f'Отправлено: {json_str}')
+            self.get_logger().debug(f'Отправлено: {json_str}')
         except SerialException as e:
-            self._node.get_logger().error(f'Ошибка отправки: {e}')
+            self.get_logger().error(f'Ошибка отправки: {e}')
             self._serial_conn.close()
 
     def fe_burst_cb(self, req, res):
         if self._fe_burst_timer is None:
-            self._fe_burst_timer = self._node.create_timer(self._fan_time, self._fe_burst_timer_cb)
+            self._fe_burst_timer = self.create_timer(self._fan_time, self._fe_burst_timer_cb)
             self._gpio_controller.enable()
             msg = "Fire extingusher burst is performing"
 
             res.success = True
-            self._node.get_logger().info(msg)
+            self.get_logger().info(msg)
         else:
             msg = "Fire extingusher burst is already performing"
-            self._node.get_logger().error(msg)
+            self.get_logger().error(msg)
             res.success = False
         res.message = msg
         return res
 
     def _fe_burst_timer_cb(self):
-        self._node.destroy_timer(self._fe_burst_timer)
+        self.destroy_timer(self._fe_burst_timer)
         self._fe_burst_timer = None
         self._gpio_controller.disable()