Add lynx lights launch, fixed tests, unify arguments and config names

husarion · Sep 23, 2024 · 6d0ba40 · 6d0ba40
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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
@@ -84,6 +84,7 @@ 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:*** [`{robot_model}_animations.yaml`](./panther_lights/config)                                                             |
 | 🖥️   | `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/)                                                                                                                                                                              |
@@ -95,18 +96,17 @@ 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`)                                                    |
 | 🤖🖥️  | `namespace`                  | Add namespace to all launched nodes. <br/> ***string:*** `env(ROBOT_NAMESPACE)`                                                                                                                                                                                                                                                                               |
 | 🤖🖥️  | `publish_robot_state`        | Whether to publish the default Panther robot description. <br/> ***bool:*** `True`                                                                                                                                                                                                                                                |
 | 🖥️   | `robot_model`                 | Specify robot model type. <br/> ***string:*** `env(ROBOT_MODEL)` if not specified `panther` (choices: `lynx`, `panther`)                                                                                                                                                                                                                  |
 | 🤖🖥️  | `safety_bt_project_path`     | Path to BehaviorTree project file, responsible for safety and shutdown management. <br/> ***string:*** [`PantherSafetyBT.btproj`](./panther_manager/behavior_trees/PantherSafetyBT.btproj)                                                                                                                                                                   |
-| 🤖🖥️  | `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)                                                                                                                                                                                                               |
+| 🤖🖥️  | `shutdown_hosts_config_path` | Path to file with list of hosts to request shutdown. <br/> ***string:*** [`shutdown_hosts.yaml`](./panther_manager/config/shutdown_hosts.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/CMakeLists.txt b/panther_lights/CMakeLists.txt
@@ -85,7 +85,8 @@ install(
 
 install(TARGETS panther_animation_plugins LIBRARY DESTINATION lib)
 
-install(DIRECTORY animations config launch DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY animations config launch test
+        DESTINATION share/${PROJECT_NAME})
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)

diff --git a/panther_lights/CONFIGURATION.md b/panther_lights/CONFIGURATION.md
@@ -2,7 +2,7 @@
 
 ## LED Animations
 
-Basic led configuration is loaded from [`led_config.yaml`](config/led_config.yaml) file. It includes definition of robot panels, virtual segments and default animations. Default animations can be found in the table below:
+Basic led configuration is loaded from [`{robot_model}_animations.yaml`](config) file. It includes definition of robot panels, virtual segments and default animations. Default animations can be found in the table below:
 
 |  ID   | NAME              | PRIORITY | ANIMATION                                          |
 | :---: | ----------------- | :------: | -------------------------------------------------- |
@@ -121,7 +121,7 @@ user_animations:
       - type: panther_lights::ImageAnimation
         segments: all
         animation:
-          image: $(find my_custom_animation_package)/animations/custom_image.png
+          image: $(find custom_pkg)/animations/custom_image.png
           duration: 3
           repeat: 1
 
@@ -133,22 +133,21 @@ user_animations:
       - type: panther_lights::ImageAnimation
         segments: front
         animation:
-          image: $(find panther_lights)/animations/triangle01_blue.png
+          image: $(find custom_pkg)/animations/front_custom_image.png
           duration: 2
           repeat: 2
       - type: panther_lights::ImageAnimation
         segments: rear
         animation:
-          image: $(find panther_lights)/animations/triangle01_red.png
+          image: $(find custom_pkg)/animations/rear_custom_image.png
           duration: 3
           repeat: 1
 ```
 
-> [!NOTE]
-> ID numbers from 0 to 19 are reserved for system animations.
-
-> [!NOTE]
-> Priority **1** is reserved for crucial system animations. Users can only define animations with priority **2** and **3**.
+> [!IMPORTANT]
+>
+> - ID numbers from 0 to 19 are reserved for system animations.
+> - Priority **1** is reserved for crucial system animations. Users can only define animations with priority **2** and **3**.
 
 Remember to modify launch command to use user animations:
 

diff --git a/panther_lights/README.md b/panther_lights/README.md
@@ -10,7 +10,8 @@ This package contains:
 
 ## Configuration Files
 
-- [`led_config.yaml`](./config/led_config.yaml): Defines and describes the appearance and parameters of the animations.
+- [`{robot_model}_animations.yaml`](./config): Defines and describes the appearance and parameters of the animations for specific robot.
+- [`{robot_model}_driver.yaml`](./config): Defines and describes specific hardware configuration for specific robot.
 
 ## ROS Nodes
 
@@ -29,9 +30,9 @@ This node is of type rclcpp_components is responsible for processing animations
 
 #### Parameters
 
+- `~animations_config_path` [*string*, default: **$(find panther_lights)/panther_lights/config/{robot_model}_animations.yaml**]: Path to a YAML file with a description of led configuration. This file includes definition of robot panels, virtual segments and default animations.
 - `~controller_frequency` [*float*, default: **50.0**]: Frequency [Hz] at which the lights controller node will process animations.
-- `~led_config_file` [*string*, default: **$(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
 

diff --git a/panther_lights/config/lynx_led_config.yaml → panther_lights/config/lynx_animations.yaml b/panther_lights/config/lynx_led_config.yaml → panther_lights/config/lynx_animations.yaml
@@ -18,7 +18,6 @@ segments:
     channel: 2
     led_range: 21-11
 
-
 segments_map:
   all: [fl, fr, rl, rr]
   front: [fl, fr]

diff --git a/panther_lights/config/lynx_driver.yaml b/panther_lights/config/lynx_driver.yaml
@@ -0,0 +1,5 @@
+/**:
+  lights_driver:
+    ros__parameters:
+      channel_1_num_led: 22
+      channel_2_num_led: 22
diff --git a/...her_lights/config/panther_led_config.yaml → ...her_lights/config/panther_animations.yaml b/...her_lights/config/panther_led_config.yaml → ...her_lights/config/panther_animations.yaml
diff --git a/panther_lights/config/panther_driver.yaml b/panther_lights/config/panther_driver.yaml
@@ -0,0 +1,5 @@
+/**:
+  lights_driver:
+    ros__parameters:
+      channel_1_num_led: 46
+      channel_2_num_led: 46
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/include/panther_lights/lights_driver_node.hpp b/panther_lights/include/panther_lights/lights_driver_node.hpp
@@ -83,7 +83,8 @@ class LightsDriverNode : public rclcpp::Node
    */
   void PanelThrottleWarnLog(const std::string panel_name, const std::string message);
 
-  int num_led_;
+  int channel_1_num_led_;
+  int channel_2_num_led_;
   double frame_timeout_;
   bool led_control_granted_;
   bool led_control_pending_;