thd mock up

rq_hardware/thd_roboct/thd_roboct_service.py

+
+import artistlib.hardware
+from ..base_hardware_service import BaseHardwareInterfaceService, AquireProjection, ReachabilityCheck
+from rq_controller.common import PyProjection
+
+
+import ros2_numpy
+import numpy as np
+from pathlib import Path
+
+from sensor_msgs.msg import Image
+
+import rclpy
+
+class ThdRoboCTHardwareInterface(BaseHardwareInterfaceService):
+
+    def __init__(self, node_name: str = 'rq_hardware_interface_service'):
+
+        super().__init__(node_name)
+
+    def aquire_projection_callback(self, 
+                                   request: AquireProjection.Request,
+                                   response: AquireProjection.Response):
+        pass
+
+    def check_reachability_callback(self,
+                                    request: ReachabilityCheck.Request,
+                                    response: ReachabilityCheck.Response):
+        pass
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    minimal_service = ThdRoboCTHardwareInterface()
+
+    rclpy.spin(minimal_service)
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

setup.py

@@ -21,6 +21,7 @@ setup(
     entry_points={
         'console_scripts': [
             'service_artist = rq_hardware.artist.artist_harware_service:main',
+            'service_thd_roboct = rq_hardware.thd_roboct.thd_roboct_service:main',
             'client = rq_hardware.hardware_client:main'
         ],
     },

temp/projection.json

 {
     "focal_spot_position_mm": [
-        0.0,
-        100.0,
+        -1.2246063538223773e-13,
+        -1000.0,
         0.0
     ],
     "focal_spot_orientation_matrix": [
@@ -22,20 +22,20 @@
         ]
     ],
     "detector_center_position_mm": [
-        0.0,
-        -100.0,
+        1.2246063538223773e-13,
+        1000.0,
         0.0
     ],
     "detector_center_orientation_matrix": [
         [
-            1.0,
-            0.0,
-            0.0
+            -1.0,
+            -2.7191723402317286e-32,
+            1.2246063538223773e-16
         ],
         [
-            0.0,
-            2.220446049250313e-16,
-            -1.0
+            1.2246063538223773e-16,
+            -2.220446049250313e-16,
+            1.0
         ],
         [
             0.0,
@@ -44,10 +44,10 @@
         ]
     ],
     "detector_center_orientation_quat": [
+        4.329637285359677e-17,
         0.7071067811865475,
-        0.0,
-        0.0,
-        0.7071067811865477
+        0.7071067811865477,
+        4.3296372853596783e-17
     ],
     "detector_count_px": [
         1000,