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uncommit python files; make pretty-lines
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@sid-parikh
sid-parikh committed Nov 14, 2023
1 parent c74c793 commit f6fd6b4
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Showing 14 changed files with 248 additions and 227 deletions.
18 changes: 10 additions & 8 deletions launch/config_server.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -5,11 +5,13 @@


def generate_launch_description():
return LaunchDescription([
launch_ros.actions.Node(
package="rj_robocup",
executable="config_server",
output="screen",
on_exit=launch.actions.Shutdown(),
)
])
return LaunchDescription(
[
launch_ros.actions.Node(
package="rj_robocup",
executable="config_server",
output="screen",
on_exit=launch.actions.Shutdown(),
)
]
)
20 changes: 11 additions & 9 deletions launch/global_param_server.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,12 +13,14 @@ def generate_launch_description():
config = os.path.join(
get_package_share_directory("rj_robocup"), "config", "sim.yaml"
)
return LaunchDescription([
launch_ros.actions.Node(
package="rj_robocup",
executable="global_param_server_node",
output="screen",
on_exit=launch.actions.Shutdown(),
parameters=[config],
)
])
return LaunchDescription(
[
launch_ros.actions.Node(
package="rj_robocup",
executable="global_param_server_node",
output="screen",
on_exit=launch.actions.Shutdown(),
parameters=[config],
)
]
)
312 changes: 157 additions & 155 deletions launch/soccer.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -68,159 +68,161 @@ def generate_launch_description():
PythonLaunchDescriptionSource(str(launch_dir / "global_param_server.launch.py"))
)

return LaunchDescription([
# LaunchArguments are declared here to be filled in by CLI arg,
# e.g.
# > ros2 launch rj_robocup soccer.launch.py run_sim:=True direction_flag:=plus
# will launch soccer with run_sim=True, direction_flag=+x
DeclareLaunchArgument(
"server_port", default_value=TextSubstitution(text="25565")
),
DeclareLaunchArgument(
"team_name", default_value=TextSubstitution(text="RoboJackets")
),
DeclareLaunchArgument("team_flag", default_value="-y"),
DeclareLaunchArgument("ref_flag", default_value="-noref"),
DeclareLaunchArgument("direction_flag", default_value="plus"),
DeclareLaunchArgument("use_internal_ref", default_value="True"),
DeclareLaunchArgument("run_sim", default_value="True"),
DeclareLaunchArgument("sim_flag", default_value="-sim"),
DeclareLaunchArgument(
"param_config",
default_value=PythonExpression([
"'sim_params.yaml' if ", run_sim, " else 'real_params.yaml'"
]),
),
DeclareLaunchArgument("use_manual_control", default_value="False"),
DeclareLaunchArgument("use_sim_radio", default_value="True"),
# this launch arg shouldn't be used, is solely dependent on run_sim
# (above, param_config is defined by run_sim)
DeclareLaunchArgument(
"param_config_filepath",
default_value=[
TextSubstitution(
text=os.path.join(
get_package_share_directory("rj_robocup"), "config", ""
)
return LaunchDescription(
[
# LaunchArguments are declared here to be filled in by CLI arg,
# e.g.
# > ros2 launch rj_robocup soccer.launch.py run_sim:=True direction_flag:=plus
# will launch soccer with run_sim=True, direction_flag=+x
DeclareLaunchArgument(
"server_port", default_value=TextSubstitution(text="25565")
),
DeclareLaunchArgument(
"team_name", default_value=TextSubstitution(text="RoboJackets")
),
DeclareLaunchArgument("team_flag", default_value="-y"),
DeclareLaunchArgument("ref_flag", default_value="-noref"),
DeclareLaunchArgument("direction_flag", default_value="plus"),
DeclareLaunchArgument("use_internal_ref", default_value="True"),
DeclareLaunchArgument("run_sim", default_value="True"),
DeclareLaunchArgument("sim_flag", default_value="-sim"),
DeclareLaunchArgument(
"param_config",
default_value=PythonExpression(
["'sim_params.yaml' if ", run_sim, " else 'real_params.yaml'"]
),
param_config,
],
),
stdout_linebuf_envvar,
# Node spawns all of the ROS nodes, defined in main() of various
# cpp files, e.g. vision_receiver.cpp, planner_node_main.cpp
# Each of these take in the results of various
# LaunchConfiguration/Arguments above, e.g. param_config_filepath
#
# Note the order doesn't matter here: ROS nodes launch in some
# random order (there are Executors to change that)
Node(
package="rj_robocup",
executable="vision_receiver",
output="screen",
parameters=[param_config_filepath],
on_exit=Shutdown(),
),
Node(
package="rj_robocup",
executable="config_server",
output="screen",
arguments=[team_flag, sim_flag, ref_flag, "-defend", direction_flag],
parameters=[param_config_filepath],
on_exit=Shutdown(),
),
global_param_server,
Node(
package="rj_robocup",
executable="soccer",
output="screen",
arguments=[team_flag, sim_flag, ref_flag, "-defend", direction_flag],
parameters=[param_config_filepath],
on_exit=Shutdown(),
),
Node(
condition=IfCondition(PythonExpression([run_sim])),
package="rj_robocup",
executable="sim_radio_node",
output="screen",
parameters=[param_config_filepath],
on_exit=Shutdown(),
),
Node(
condition=IfCondition(PythonExpression(["not ", run_sim])),
package="rj_robocup",
executable="network_radio_node",
output="screen",
parameters=[
param_config_filepath,
{"server_port": LaunchConfiguration("server_port")},
],
on_exit=Shutdown(),
),
Node(
package="rj_robocup",
executable="control_node",
output="screen",
parameters=[param_config_filepath],
on_exit=Shutdown(),
),
Node(
package="rj_robocup",
executable="planner_node",
output="screen",
parameters=[param_config_filepath],
on_exit=Shutdown(),
),
# spawn manual node only if use_manual_control is True
Node(
condition=IfCondition(PythonExpression([use_manual_control])),
package="rj_robocup",
executable="manual_control_node",
output="screen",
on_exit=Shutdown(),
),
# spawn strategy only if manual is not on
Node(
condition=IfCondition(PythonExpression(["not ", use_manual_control])),
package="rj_robocup",
executable="agent_action_client_node",
output="screen",
parameters=[param_config_filepath],
on_exit=Shutdown(),
),
Node(
condition=IfCondition(PythonExpression(["not ", use_manual_control])),
package="rj_robocup",
executable="coach_node",
output="screen",
parameters=[param_config_filepath],
on_exit=Shutdown(),
),
# spawn internal_ref/external_ref based on internal_ref LaunchArgument
Node(
condition=IfCondition(PythonExpression([use_internal_ref])),
package="rj_robocup",
executable="internal_referee_node",
output="screen",
parameters=[param_config_filepath],
on_exit=Shutdown(),
),
Node(
condition=IfCondition(PythonExpression(["not ", use_internal_ref])),
package="rj_robocup",
executable="external_referee_node",
output="screen",
parameters=[
param_config_filepath,
{"team_name": LaunchConfiguration("team_name")},
],
on_exit=Shutdown(),
),
Node(
package="rj_robocup",
executable="rj_vision_filter",
output="screen",
parameters=[param_config_filepath],
on_exit=Shutdown(),
),
])
),
DeclareLaunchArgument("use_manual_control", default_value="False"),
DeclareLaunchArgument("use_sim_radio", default_value="True"),
# this launch arg shouldn't be used, is solely dependent on run_sim
# (above, param_config is defined by run_sim)
DeclareLaunchArgument(
"param_config_filepath",
default_value=[
TextSubstitution(
text=os.path.join(
get_package_share_directory("rj_robocup"), "config", ""
)
),
param_config,
],
),
stdout_linebuf_envvar,
# Node spawns all of the ROS nodes, defined in main() of various
# cpp files, e.g. vision_receiver.cpp, planner_node_main.cpp
# Each of these take in the results of various
# LaunchConfiguration/Arguments above, e.g. param_config_filepath
#
# Note the order doesn't matter here: ROS nodes launch in some
# random order (there are Executors to change that)
Node(
package="rj_robocup",
executable="vision_receiver",
output="screen",
parameters=[param_config_filepath],
on_exit=Shutdown(),
),
Node(
package="rj_robocup",
executable="config_server",
output="screen",
arguments=[team_flag, sim_flag, ref_flag, "-defend", direction_flag],
parameters=[param_config_filepath],
on_exit=Shutdown(),
),
global_param_server,
Node(
package="rj_robocup",
executable="soccer",
output="screen",
arguments=[team_flag, sim_flag, ref_flag, "-defend", direction_flag],
parameters=[param_config_filepath],
on_exit=Shutdown(),
),
Node(
condition=IfCondition(PythonExpression([run_sim])),
package="rj_robocup",
executable="sim_radio_node",
output="screen",
parameters=[param_config_filepath],
on_exit=Shutdown(),
),
Node(
condition=IfCondition(PythonExpression(["not ", run_sim])),
package="rj_robocup",
executable="network_radio_node",
output="screen",
parameters=[
param_config_filepath,
{"server_port": LaunchConfiguration("server_port")},
],
on_exit=Shutdown(),
),
Node(
package="rj_robocup",
executable="control_node",
output="screen",
parameters=[param_config_filepath],
on_exit=Shutdown(),
),
Node(
package="rj_robocup",
executable="planner_node",
output="screen",
parameters=[param_config_filepath],
on_exit=Shutdown(),
),
# spawn manual node only if use_manual_control is True
Node(
condition=IfCondition(PythonExpression([use_manual_control])),
package="rj_robocup",
executable="manual_control_node",
output="screen",
on_exit=Shutdown(),
),
# spawn strategy only if manual is not on
Node(
condition=IfCondition(PythonExpression(["not ", use_manual_control])),
package="rj_robocup",
executable="agent_action_client_node",
output="screen",
parameters=[param_config_filepath],
on_exit=Shutdown(),
),
Node(
condition=IfCondition(PythonExpression(["not ", use_manual_control])),
package="rj_robocup",
executable="coach_node",
output="screen",
parameters=[param_config_filepath],
on_exit=Shutdown(),
),
# spawn internal_ref/external_ref based on internal_ref LaunchArgument
Node(
condition=IfCondition(PythonExpression([use_internal_ref])),
package="rj_robocup",
executable="internal_referee_node",
output="screen",
parameters=[param_config_filepath],
on_exit=Shutdown(),
),
Node(
condition=IfCondition(PythonExpression(["not ", use_internal_ref])),
package="rj_robocup",
executable="external_referee_node",
output="screen",
parameters=[
param_config_filepath,
{"team_name": LaunchConfiguration("team_name")},
],
on_exit=Shutdown(),
),
Node(
package="rj_robocup",
executable="rj_vision_filter",
output="screen",
parameters=[param_config_filepath],
on_exit=Shutdown(),
),
]
)
22 changes: 12 additions & 10 deletions launch/test_motion.launch.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -70,13 +70,15 @@ def generate_launch_description():
on_exit=Shutdown(),
)

return LaunchDescription([
grsim,
stdout_linebuf_envvar,
config_server,
radio,
control,
vision_receiver,
vision_filter,
ref_receiver,
])
return LaunchDescription(
[
grsim,
stdout_linebuf_envvar,
config_server,
radio,
control,
vision_receiver,
vision_filter,
ref_receiver,
]
)
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