old_contents: #!/usr/bin/env python3
  import rospy
  import struct
  from pymodbus.client.sync import ModbusSerialClient as modbus
  from pymodbus.exceptions import ModbusIOException
  from sensor_msgs.msg import Temperature
  from std_msgs.msg import Float32
  from geometry_msgs.msg import PoseWithCovarianceStamped, DiagnosticArray, DiagnosticStatus
  
  def publish():
  	sensor = modbus(method='rtu', port='/dev/ucfsub/depth', baudrate=115200)
  	sensor.connect()
  
  	rospy.init_node('Depth')
  	tempPub = rospy.Publisher('ExternalTemperature', Temperature, queue_size=1)
  	depthPub = rospy.Publisher('/depth', Float32, queue_size=1)
  	posePub = rospy.Publisher('/depth/pose', PoseWithCovarianceStamped, queue_size=1)
  	diagPub = rospy.Publisher('/diagnostics', DiagnosticArray, queue_size=1)
  
  	temp = Temperature()
  	depth = Float32()
  	diag = DiagnosticArray()
  
  	updateRate = rospy.get_param("/updateRate", 30)
  	freq = rospy.Rate(updateRate)
  	loop = 0
  
  	pose = PoseWithCovarianceStamped()
  	pose.header.frame_id = "odom"
  	pose.pose.covariance = [0.0]*36
  	pose.pose.covariance[14] = 0.01
  	pose.pose.pose.orientation.x = 0.0
  	pose.pose.pose.orientation.y = 0.0
  	pose.pose.pose.orientation.z = 0.0
  	pose.pose.pose.orientation.w = 1.0
  	pose.pose.pose.position.x = 0.0
  	pose.pose.pose.position.y = 0.0
  
  	while not rospy.is_shutdown():
  		diag.status = [DiagnosticStatus(name='Leak', message=str(type(rr) is type(ModbusIOException), level=int(x == 'true')*2)]
  		if loop >= updateRate:
  			rr = sensor.read_holding_registers(address=8, count=2, unit=1)
  			temp.temperature = struct.unpack('>f',struct.pack('>HH', *rr.registers))[0]
  			tempPub.publish(temp)
  			loop = 0
  		loop += 1
  
  		rr = sensor.read_holding_registers(address=2, count=2, unit=1)
  		depth.data = 10.2*struct.unpack('>f',struct.pack('>HH', *rr.registers))[0]
  
  		pose.pose.pose.position.z = depth.data
  		pose.header.stamp = rospy.Time.now()
  		posePub.publish(pose)
  		depthPub.publish(depth)
  		freq.sleep()
  
  if __name__ == '__main__':
  	try:
  		publish()
  	except rospy.ROSInterruptException:
  		pass
  
new_contents: #!/usr/bin/env python3
  import rospy
  import struct
  from pymodbus.client.sync import ModbusSerialClient as modbus
  from pymodbus.exceptions import ModbusIOException
  from sensor_msgs.msg import Temperature
  from std_msgs.msg import Float32
  from geometry_msgs.msg import PoseWithCovarianceStamped
  from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus
  
  def publish():
  	sensor = modbus(method='rtu', port='/dev/ucfsub/depth', baudrate=115200)
  	sensor.connect()
  
  	rospy.init_node('Depth')
  	tempPub = rospy.Publisher('ExternalTemperature', Temperature, queue_size=1)
  	depthPub = rospy.Publisher('/depth', Float32, queue_size=1)
  	posePub = rospy.Publisher('/depth/pose', PoseWithCovarianceStamped, queue_size=1)
  	diagPub = rospy.Publisher('/diagnostics', DiagnosticArray, queue_size=1)
  
  	temp = Temperature()
  	depth = Float32()
  	diag = DiagnosticArray()
  
  	updateRate = rospy.get_param("/updateRate", 30)
  	freq = rospy.Rate(updateRate)
  	loop = 0
  
  	pose = PoseWithCovarianceStamped()
  	pose.header.frame_id = "odom"
  	pose.pose.covariance = [0.0]*36
  	pose.pose.covariance[14] = 0.01
  	pose.pose.pose.orientation.x = 0.0
  	pose.pose.pose.orientation.y = 0.0
  	pose.pose.pose.orientation.z = 0.0
  	pose.pose.pose.orientation.w = 1.0
  	pose.pose.pose.position.x = 0.0
  	pose.pose.pose.position.y = 0.0
  
  	while not rospy.is_shutdown():
  		if loop >= updateRate:
  			rr = sensor.read_holding_registers(address=8, count=2, unit=1)
  			if type(rr) is not type(ModbusIOException):
  				temp.temperature = struct.unpack('>f',struct.pack('>HH', *rr.registers))[0]
  				tempPub.publish(temp)
  			loop = 0
  		loop += 1
  
  		rr = sensor.read_holding_registers(address=2, count=2, unit=1)
  		if type(rr) is not type(ModbusIOException):
  			depth.data = 10.2*struct.unpack('>f',struct.pack('>HH', *rr.registers))[0]
  
  			pose.pose.pose.position.z = depth.data
  			pose.header.stamp = rospy.Time.now()
  			posePub.publish(pose)
  			depthPub.publish(depth)
  		diag.status = [DiagnosticStatus(name='Depth', message=str(type(rr) is type(ModbusIOException)), level=int(rr == 'true')*2)]
  		freq.sleep()
  
  if __name__ == '__main__':
  	try:
  		publish()
  	except rospy.ROSInterruptException:
  		pass
  
subject: Fix syntax errors in modbus depth sensor