Unify arguments and config names

husarion · Sep 24, 2024 · 4174526 · 4174526
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diff --git a/.gitignore b/.gitignore
@@ -1,6 +1,6 @@
-devel/
-logs/
 build/
+log/
+install/
 bin/
 lib/
 msg_gen/
@@ -13,8 +13,6 @@ msg/*Feedback.msg
 msg/*Goal.msg
 msg/*Result.msg
 msg/_*.py
-build_isolated/
-devel_isolated/
 
 # Generated by dynamic reconfigure
 *.cfgc

diff --git a/README.md b/README.md
@@ -71,6 +71,9 @@ Simulation:
 ros2 launch panther_gazebo simulation.launch.py
 ```
 
+> [!IMPORTANT]
+> You can change spawning robot in simulation, by adding `robot_model:={robot_model}` argument.
+
 ### Launch Arguments
 
 Launch arguments are largely common to both simulation and physical robot. However, there is a group of arguments that apply only to hardware or only to the simulator. Below is a legend to the tables with all launch arguments.
@@ -106,7 +109,7 @@ Launch arguments are largely common to both simulation and physical robot. Howev
 | 🤖🖥️  | `shutdown_hosts_config_path` | Path to file with list of hosts to request shutdown. <br/> ***string:*** [`shutdown_hosts_config.yaml`](./panther_manager/config/shutdown_hosts_config.yaml)                                                                                                                                                                                                               |
 | 🤖🖥️  | `use_ekf`                    | Enable or disable EKF. <br/> ***bool:*** `True`                                                                                                                                                                                                                                                                                   |
 | 🤖🖥️  | `use_sim`                    | Whether simulation is used. <br/> ***bool:*** `False`                                                                                                                                                                                                                                                                             |
-| 🤖🖥️  | `user_led_animations_file`   | Path to a YAML file with a description of the user-defined animations. <br/> ***string:*** `''`                                                                                                                                                                                                                                                             |
+| 🤖🖥️  | `user_led_animations_path`   | Path to a YAML file with a description of the user-defined animations. <br/> ***string:*** `''`                                                                                                                                                                                                                                                             |
 | 🤖🖥️  | `wheel_config_path`          | Path to wheel configuration file. <br/> ***string:*** [`{wheel_type}.yaml`](./panther_description/config)                                                                                                                                                                                                                                                   |
 | 🤖🖥️  | `wheel_type`                 | Specify the wheel type. If the selected wheel type is not 'custom', the wheel_config_path and controller_config_path arguments will be automatically adjusted and can be omitted. <br/> ***string:*** `WH01` (for Panther), `WH05` (for Lynx) (choices: `WH01`, `WH02`, `WH04`, `WH05`, `custom`) |
 | 🖥️   | `x`                          | Initial robot position in the global 'x' axis. <br/> ***float:*** `0.0`                                                                                                                                                                                                                                                                                          |

diff --git a/panther_gazebo/CONFIGURATION.md b/panther_gazebo/CONFIGURATION.md
@@ -33,7 +33,7 @@ To obtain GPS data in Ignition, follow these steps:
 
 ## Linear Battery Plugin
 
-It is possible to simulate the battery operation of the Panther robot. By default, this feature is disabled, but you can enable it by setting the `simulate_discharging` parameter to `true` in the `battery_plugin_config.yaml` file or in the file pointed to by the `battery_config_path` parameter. Below, you will find the plugin parameters that enable battery simulation.
+It is possible to simulate the battery operation of the Panther robot. By default, this feature is disabled, but you can enable it by setting the `simulate_discharging` parameter to `true` in the `battery_plugin.yaml` file or in the file pointed to by the `battery_config_path` parameter. Below, you will find the plugin parameters that enable battery simulation.
 
 - `simulate_discharging` [*bool*, default: **false**]: Enables battery simulation. If set to `true`, the battery will discharge **at a constant rate** (regardless of joint torque), and if it depletes completely, the robot will stop moving. When set to `false`, the battery will not discharge, but the battery status information will still be published on the `battery/battery_status` topic.
 - `initial_charge_percentage` [*float*, default: **70.0**]: Sets the initial charge percentage of the battery.

diff --git a/panther_gazebo/README.md b/panther_gazebo/README.md
@@ -11,7 +11,7 @@ The package contains a launch file and source files used to run the robot simula
 
 ## Configuration Files
 
-- [`battery_plugin_config.yaml`](./config/battery_plugin_config.yaml): Simulated LinearBatteryPlugin configuration.
+- [`battery_plugin.yaml`](./config/battery_plugin.yaml): Simulated LinearBatteryPlugin configuration.
 - [`gz_bridge.yaml`](./config/gz_bridge.yaml): Specify data to exchange between ROS and Gazebo simulation.
 - [`teleop_with_estop.config`](./config/teleop_with_estop.config): Gazebo layout configuration file, which adds E-Stop and Teleop widgets.
 

diff --git a/..._gazebo/config/battery_plugin_config.yaml → panther_gazebo/config/battery_plugin.yaml b/..._gazebo/config/battery_plugin_config.yaml → panther_gazebo/config/battery_plugin.yaml
diff --git a/panther_gazebo/launch/simulate_robot.launch.py b/panther_gazebo/launch/simulate_robot.launch.py
@@ -51,7 +51,7 @@ def generate_launch_description():
             "This configuration is intended for use in simulations only."
         ),
         default_value=PathJoinSubstitution(
-            [FindPackageShare("panther_gazebo"), "config", "battery_plugin_config.yaml"]
+            [FindPackageShare("panther_gazebo"), "config", "battery_plugin.yaml"]
         ),
     )
 

diff --git a/panther_lights/README.md b/panther_lights/README.md
@@ -31,7 +31,7 @@ This node is of type rclcpp_components is responsible for processing animations
 
 - `~controller_frequency` [*float*, default: **50.0**]: Frequency [Hz] at which the lights controller node will process animations.
 - `~led_config_file` [*string*, default: **$(find panther_lights)/panther_lights/config/led_config.yaml**]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
-- `~user_led_animations_file` [*string*, default: **None**]: Path to a YAML file with a description of the user defined animations.
+- `~user_led_animations_path` [*string*, default: **None**]: Path to a YAML file with a description of the user defined animations.
 
 ### LightsDriverNode
 

diff --git a/panther_lights/include/panther_lights/lights_controller_node.hpp b/panther_lights/include/panther_lights/lights_controller_node.hpp
@@ -90,9 +90,9 @@ class LightsControllerNode : public rclcpp::Node
   /**
    * @brief Adds animations to an unordered map with animations
    *
-   * @param user_led_animations_file path to YAML file with user animations description
+   * @param user_led_animations_path path to YAML file with user animations description
    */
-  void LoadUserAnimations(const std::string & user_led_animations_file);
+  void LoadUserAnimations(const std::string & user_led_animations_path);
 
   /**
    * @brief Adds animation to an unordered map with animations

diff --git a/panther_lights/launch/lights.launch.py b/panther_lights/launch/lights.launch.py
@@ -52,9 +52,9 @@ def generate_launch_description():
         description="Whether simulation is used",
     )
 
-    user_led_animations_file = LaunchConfiguration("user_led_animations_file")
-    declare_user_led_animations_file_arg = DeclareLaunchArgument(
-        "user_led_animations_file",
+    user_led_animations_path = LaunchConfiguration("user_led_animations_path")
+    declare_user_led_animations_path_arg = DeclareLaunchArgument(
+        "user_led_animations_path",
         default_value="",
         description="Path to a YAML file with a description of the user defined animations.",
     )
@@ -83,7 +83,7 @@ def generate_launch_description():
                 namespace=namespace,
                 parameters=[
                     {"led_config_file": led_config_file},
-                    {"user_led_animations_file": user_led_animations_file},
+                    {"user_led_animations_path": user_led_animations_path},
                 ],
                 extra_arguments=[
                     {"use_intra_process_comms": True},
@@ -98,7 +98,7 @@ def generate_launch_description():
         declare_led_config_file_arg,
         declare_namespace_arg,
         declare_use_sim_arg,
-        declare_user_led_animations_file_arg,
+        declare_user_led_animations_path_arg,
         lights_container,
     ]
 

diff --git a/panther_lights/src/lights_controller_node.cpp b/panther_lights/src/lights_controller_node.cpp
@@ -49,11 +49,11 @@ LightsControllerNode::LightsControllerNode(const rclcpp::NodeOptions & options)
   using namespace std::placeholders;
 
   this->declare_parameter<std::string>("led_config_file");
-  this->declare_parameter<std::string>("user_led_animations_file", "");
+  this->declare_parameter<std::string>("user_led_animations_path", "");
   this->declare_parameter<float>("controller_freq", 50.0);
 
   const auto led_config_file = this->get_parameter("led_config_file").as_string();
-  const auto user_led_animations_file = this->get_parameter("user_led_animations_file").as_string();
+  const auto user_led_animations_path = this->get_parameter("user_led_animations_path").as_string();
   const float controller_freq = this->get_parameter("controller_freq").as_double();
 
   YAML::Node led_config_desc = YAML::LoadFile(led_config_file);
@@ -63,8 +63,8 @@ LightsControllerNode::LightsControllerNode(const rclcpp::NodeOptions & options)
   InitializeLEDSegmentsMap(led_config_desc["segments_map"]);
   LoadDefaultAnimations(led_config_desc["led_animations"]);
 
-  if (user_led_animations_file != "") {
-    LoadUserAnimations(user_led_animations_file);
+  if (user_led_animations_path != "") {
+    LoadUserAnimations(user_led_animations_path);
   }
 
   segment_converter_ = std::make_shared<SegmentConverter>();
@@ -159,12 +159,12 @@ void LightsControllerNode::LoadDefaultAnimations(const YAML::Node & animations_d
   RCLCPP_INFO(this->get_logger(), "Loaded default animations.");
 }
 
-void LightsControllerNode::LoadUserAnimations(const std::string & user_led_animations_file)
+void LightsControllerNode::LoadUserAnimations(const std::string & user_led_animations_path)
 {
   RCLCPP_DEBUG(this->get_logger(), "Loading user's animations.");
 
   try {
-    YAML::Node user_led_animations = YAML::LoadFile(user_led_animations_file);
+    YAML::Node user_led_animations = YAML::LoadFile(user_led_animations_path);
     auto user_animations = panther_utils::GetYAMLKeyValue<std::vector<YAML::Node>>(
       user_led_animations, "user_animations");
 

diff --git a/panther_manager/CONFIGURATION.md b/panther_manager/CONFIGURATION.md
@@ -5,7 +5,7 @@
 For more information regarding shutdown behavior, refer to `ShutdownSingleHost` BT node in the [Actions](#actions) section. An example of a shutdown hosts YAML file can be found below.
 
 ``` yaml
-# My shutdown_hosts_config.yaml
+# My shutdown_hosts.yaml
 hosts:
   # Intel NUC, user computer
   - ip: 10.15.20.3

diff --git a/panther_manager/README.md b/panther_manager/README.md
@@ -17,7 +17,7 @@ This package contains:
 - [`shutdown.xml`](./behavior_trees/shutdown.xml): BehaviorTree for initiating shutdown procedures.
 - [`lights_manager.yaml`](./config/lights_manager.yaml): Contains parameters for the `lights_manager` node.
 - [`safety_manager.yaml`](./config/safety_manager.yaml): Contains parameters for the `safety_manager` node.
-- [`shutdown_hosts_config.yaml`](./config/shutdown_hosts_config.yaml): List with all hosts to request shutdown.
+- [`shutdown_hosts.yaml`](./config/shutdown_hosts.yaml): List with all hosts to request shutdown.
 
 ## ROS Nodes
 

diff --git a/...manager/config/shutdown_hosts_config.yaml → panther_manager/config/shutdown_hosts.yaml b/...manager/config/shutdown_hosts_config.yaml → panther_manager/config/shutdown_hosts.yaml
diff --git a/panther_manager/launch/manager.launch.py b/panther_manager/launch/manager.launch.py
@@ -62,7 +62,7 @@ def generate_launch_description():
             [
                 FindPackageShare("panther_manager"),
                 "config",
-                "shutdown_hosts_config.yaml",
+                "shutdown_hosts.yaml",
             ]
         ),
         description="Path to file with list of hosts to request shutdown.",