Unify arguments and config names (#416)

* Unify arguments and config names

* led_config_file -> animations_config_path

.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

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.
@@ -84,6 +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/)                                                                                                                                                                              |
@@ -95,7 +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`)                                                    |
@@ -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`                                                                                                                                                                                                                                                                                          |

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.

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.
 

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"]
         ),
     )
 

panther_lights/README.md

@@ -29,9 +29,9 @@ 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_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
 

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

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"]
         ),
@@ -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.",
     )
@@ -82,8 +82,8 @@ def generate_launch_description():
                 name="lights_controller",
                 namespace=namespace,
                 parameters=[
-                    {"led_config_file": led_config_file},
-                    {"user_led_animations_file": user_led_animations_file},
+                    {"animations_config_path": animations_config_path},
+                    {"user_led_animations_path": user_led_animations_path},
                 ],
                 extra_arguments=[
                     {"use_intra_process_comms": True},
@@ -95,10 +95,10 @@ 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_file_arg,
+        declare_user_led_animations_path_arg,
         lights_container,
     ]
 

panther_lights/src/lights_controller_node.cpp

@@ -48,23 +48,23 @@ 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>("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 user_led_animations_file = this->get_parameter("user_led_animations_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);
   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");
 

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)
 {

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