led_config_file -> animations_config_path

README.md

@@ -87,6 +87,7 @@ Launch arguments are largely common to both simulation and physical robot. Howev
 | --- | ---------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | 🖥️   | `add_wheel_joints`           | Flag enabling joint_state_publisher to publish information about the wheel position. Should be false when there is a controller that sends this information. <br/> ***bool:*** `False`                                                                                                                                              |
 | 🖥️   | `add_world_transform`        | Adds a world frame that connects the tf trees of individual robots (useful when running multiple robots). <br/> ***bool:*** `False`                                                                                                                                                                                                                                              |
+| 🤖🖥️  | `animations_config_path`    | Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations. <br/> ***string:*** [`led_config.yaml`](./panther_lights/config/led_config.yaml)                                                                                                                        |
 | 🖥️   | `battery_config_path`        | Path to the Ignition LinearBatteryPlugin configuration file. This configuration is intended for use in simulations only. <br/> ***string:*** `None`                                                                                                                                                                                                           |
 | 🤖🖥️  | `components_config_path`     | Additional components configuration file. Components described in this file are dynamically included in Panther's urdf. Panther options are described in [the manual](https://husarion.com/manuals/panther/panther-options). <br/> ***string:*** [`components.yaml`](./panther_description/config/components.yaml)                                          |
 | 🤖🖥️  | `controller_config_path`     | Path to controller configuration file. A path to custom configuration can be specified here. <br/> ***string:*** [`{wheel_type}_controller.yaml`](./panther_controller/config/)                                                                                                                                                                              |
@@ -98,7 +99,6 @@ Launch arguments are largely common to both simulation and physical robot. Howev
 | 🖥️   | `gz_log_level`               | Adjust the level of console output. <br/> ***int:*** `1` (choices: `0`, `1`, `2`, `3`, `4`)                                                                                                                                                                                                                                                                               |
 | 🖥️   | `gz_world`                   | Absolute path to SDF world file. <br/> ***string:*** [`husarion_world.sdf`](https://github.com/husarion/husarion_gz_worlds/blob/main/worlds/husarion_world.sdf)                                                                                                                                                                                                 |
 | 🤖   | `launch_nmea_gps`            | Whether to launch the NMEA NavSat driver node. Advisable when the robot is equipped with the [ANT02](https://husarion.com/manuals/panther/panther-options/#ant02---wi-fi--lte--gps). <br/> ***bool:*** `False`   |
-| 🤖🖥️  | `led_config_file`            | Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations. <br/> ***string:*** [`led_config.yaml`](./panther_lights/config/led_config.yaml)                                                                                                                        |
 | 🤖🖥️  | `lights_bt_project_path`     | Path to BehaviorTree project file, responsible for lights management. <br/> ***string:*** [`PantherLightsBT.btproj`](./panther_manager/behavior_trees/PantherLightsBT.btproj)                                                                                                                                                                                |
 | 🤖🖥️  | `localization_config_path`   | Specify the path to the localization configuration file. <br/> ***string:*** [`relative_localization.yaml`](./panther_localization/config/relative_localization.yaml)                                                                                                                                                                                          |
 | 🤖🖥️  | `localization_mode`          | Specifies the localization mode:  <br/>- 'relative' `odometry/filtered` data is relative to the initial position and orientation. <br/>- 'enu' `odometry/filtered` data is relative to initial position and ENU (East North Up) orientation. <br/> ***string:*** `relative` (choices: `relative`, `enu`)                                                    |

panther_lights/README.md

@@ -29,8 +29,8 @@ This node is of type rclcpp_components is responsible for processing animations
 
 #### Parameters
 
+- `~animations_config_path` [*string*, default: **$(find panther_lights)/panther_lights/config/led_config.yaml**]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
 - `~controller_frequency` [*float*, default: **50.0**]: Frequency [Hz] at which the lights controller node will process animations.
-- `~led_config_file` [*string*, default: **$(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_path` [*string*, default: **None**]: Path to a YAML file with a description of the user defined animations.
 
 ### LightsDriverNode

panther_lights/launch/lights.launch.py

@@ -29,9 +29,9 @@
 
 
 def generate_launch_description():
-    led_config_file = LaunchConfiguration("led_config_file")
-    declare_led_config_file_arg = DeclareLaunchArgument(
-        "led_config_file",
+    animations_config_path = LaunchConfiguration("animations_config_path")
+    declare_animations_config_path_arg = DeclareLaunchArgument(
+        "animations_config_path",
         default_value=PathJoinSubstitution(
             [FindPackageShare("panther_lights"), "config", "led_config.yaml"]
         ),
@@ -82,7 +82,7 @@ def generate_launch_description():
                 name="lights_controller",
                 namespace=namespace,
                 parameters=[
-                    {"led_config_file": led_config_file},
+                    {"animations_config_path": animations_config_path},
                     {"user_led_animations_path": user_led_animations_path},
                 ],
                 extra_arguments=[
@@ -95,7 +95,7 @@ def generate_launch_description():
     )
 
     actions = [
-        declare_led_config_file_arg,
+        declare_animations_config_path_arg,
         declare_namespace_arg,
         declare_use_sim_arg,
         declare_user_led_animations_path_arg,

panther_lights/src/lights_controller_node.cpp

@@ -48,15 +48,15 @@ LightsControllerNode::LightsControllerNode(const rclcpp::NodeOptions & options)
 
   using namespace std::placeholders;
 
-  this->declare_parameter<std::string>("led_config_file");
+  this->declare_parameter<std::string>("animations_config_path");
   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 animations_config_path = this->get_parameter("animations_config_path").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);
+  YAML::Node led_config_desc = YAML::LoadFile(animations_config_path);
 
   InitializeLEDPanels(led_config_desc["panels"]);
   InitializeLEDSegments(led_config_desc["segments"], controller_freq);

panther_lights/test/integration/panther_lights.test.py

@@ -36,14 +36,14 @@
 
 def generate_test_description():
 
-    led_config_file = (
+    animations_config_path = (
         PathJoinSubstitution([FindPackageShare("panther_lights"), "config", "led_config.yaml"]),
     )
 
     lights_controller_node = Node(
         package="panther_lights",
         executable="lights_controller_node",
-        parameters=[{"led_config_file": led_config_file}],
+        parameters=[{"animations_config_path": animations_config_path}],
     )
 
     lights_driver_node = Node(

panther_lights/test/unit/test_lights_controller_node.cpp

@@ -77,26 +77,29 @@ class TestLightsControllerNode : public testing::Test
   static constexpr char kTestSegmentName[] = "test";
   static constexpr char kTestSegmentLedRange[] = "0-9";
 
-  std::filesystem::path led_config_file_;
+  std::filesystem::path animations_config_path_;
   std::shared_ptr<ControllerNodeWrapper> lights_controller_node_;
 };
 
 TestLightsControllerNode::TestLightsControllerNode()
 {
-  led_config_file_ = testing::TempDir() + "/led_config.yaml";
+  animations_config_path_ = testing::TempDir() + "/led_config.yaml";
 
-  CreateLEDConfig(led_config_file_);
+  CreateLEDConfig(animations_config_path_);
 
   std::vector<rclcpp::Parameter> params;
-  params.push_back(rclcpp::Parameter("led_config_file", led_config_file_));
+  params.push_back(rclcpp::Parameter("animations_config_path", animations_config_path_));
 
   rclcpp::NodeOptions options;
   options.parameter_overrides(params);
 
   lights_controller_node_ = std::make_shared<ControllerNodeWrapper>(options);
 }
 
-TestLightsControllerNode::~TestLightsControllerNode() { std::filesystem::remove(led_config_file_); }
+TestLightsControllerNode::~TestLightsControllerNode()
+{
+  std::filesystem::remove(animations_config_path_);
+}
 
 void TestLightsControllerNode::CreateLEDConfig(const std::filesystem::path file_path)
 {