Merge branch 'ros-2-complete' of https://github.com/purdue-arc/rocket…

…_league into ros-2-complete
purdue-arc · Feb 25, 2024 · 0b70021 · 0b70021
2 parents d0477ef + d8299fa
commit 0b70021
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Showing 5 changed files with 106 additions and 88 deletions.
diff --git a/src/rktl_autonomy/launch/rocket_league_agent_launch.py b/src/rktl_autonomy/launch/rocket_league_agent_launch.py
@@ -9,15 +9,15 @@ def generate_launch_description():
     weights = LaunchConfiguration('weights')  # Filepath to weights
 
     plot_log_launch_arg = DeclareLaunchArgument(
-            'plot_log',
-            default_value='false',
-            description='Set to true to enable logging for plotting performance.'
+        'plot_log',
+        default_value='false',
+        description='Set to true to enable logging for plotting performance.'
         )
 
     weights_launch_arg = DeclareLaunchArgument(
-            'weights',
-            default_value='~/catkin_ws/data/rocket_league/model',
-            description='filepath to weights.'
+        'weights',
+        default_value='~/catkin_ws/data/rocket_league/model',
+        description='filepath to weights.'
         )
 
     plot_log_info = LogInfo(condition=IfCondition(plot_log), msg="Enabling performance plotting...")
@@ -31,17 +31,18 @@ def generate_launch_description():
         )
 
     plotter_node = Node(
-            condition=IfCondition(plot_log),
-            package='rktl_autonomy',
-            executable='plotter', 
-            name='plotter',
-            output='screen',
-            remappings=[('~log', 'rocket_league_agent/log')],
+        condition=IfCondition(plot_log),
+        package='rktl_autonomy',
+        executable='plotter', 
+        name='plotter',
+        output='screen',
+        remappings=[('~log', 'rocket_league_agent/log')],
         )
 
-    return LaunchDescription([plot_log_launch_arg, 
-                              weights_launch_arg,
-                              plot_log_info,
-                              agent_node,
-                              plotter_node
-                              ])
+    return LaunchDescription([
+        plot_log_launch_arg, 
+        weights_launch_arg,
+        plot_log_info,
+        agent_node,
+        plotter_node
+        ])
diff --git a/src/rktl_autonomy/launch/rocket_league_train_launch.py b/src/rktl_autonomy/launch/rocket_league_train_launch.py
@@ -7,73 +7,91 @@
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 def generate_launch_description():
-    return LaunchDescription([
-        DeclareLaunchArgument(
-            'plot_log',
-            default_value='true',
-            description='Set to true to enable logging for plotting performance.'
-        ),
-        DeclareLaunchArgument(
-            'agent_name',
-            default_value='rocket_league_agent',
-            description='Name of the agent.'
-        ),
-        DeclareLaunchArgument(
-            'log_file',
-            default_value='rocket_league_agent/log',
-            description='Filepath for logger output'),
-        DeclareLaunchArgument(
+    plot_log_launch_arg = DeclareLaunchArgument(
+        'plot_log',
+        default_value='true',
+        description='Set to true to enable logging for plotting performance.'
+        )
+
+    agent_name_launch_arg = DeclareLaunchArgument(
+        'agent_name',
+        default_value='rocket_league_agent',
+        description='Name of the agent.'
+        )
+
+    log_file_launch_arg = DeclareLaunchArgument(
+        'log_file',
+        default_value='rocket_league_agent/log',
+        description='Filepath for logger output'
+        )
+
+    render_launch_arg = DeclareLaunchArgument(
             'render',
             default_value='false',
             description='Set to true to enable rendering.'
-        ),
-        DeclareLaunchArgument(
+        )
+
+    sim_mode_launch_arg = DeclareLaunchArgument(
             'sim_mode',
             default_value='ideal',
             description='Simulation mode.'
-        ),
-
-        DeclareLaunchArgument(
-            'rate',
-            default_value='10.0',
-            description='Rate parameter.'
-        ),
-        DeclareLaunchArgument(
-            'agent_type',
-            default_value='none',
-            description='Agent type.'
-        ),
-
-        LogInfo(
-            condition=IfCondition(LaunchConfiguration('plot_log')),
-            msg="Enabling performance plotting..."
-        ),
-
-        Node(
-            package='rktl_autonomy',
-            executable='rocket_league_agent',
-            name=LaunchConfiguration('agent_name'),
-            output='screen',
-            parameters=[{'rate': LaunchConfiguration('rate')}],
-            namespace=LaunchConfiguration('agent_name')
-        ),
-
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(['$(find rktl_launch)/launch/rocket_league_sim_launch.py']),  # TODO: Replace with the path to the launch file
-            launch_arguments={
-                'render': LaunchConfiguration('render'),
-                'sim_mode': LaunchConfiguration('sim_mode'),
-                'agent_type': LaunchConfiguration('agent_type'),
-            }.items(),
-        ),
+        )
 
-        Node(
-            condition=IfCondition(LaunchConfiguration('plot_log')),
-            package='rktl_autonomy',
-            executable='plotter',
-            name='plotter',
-            output='screen',
-            remappings=[('~log', LaunchConfiguration('log_file'))],
-            namespace=LaunchConfiguration('agent_name')
+    rate_launch_arg = DeclareLaunchArgument(
+        'rate',
+        default_value='10.0',
+        description='Rate parameter.'
+        )
+
+    agent_type_launch_arg = DeclareLaunchArgument(
+        'agent_type',
+        default_value='none',
+        description='Agent type.'
+        )
+
+    plot_log_info = LogInfo(
+        condition=IfCondition(LaunchConfiguration('plot_log')),
+        msg="Enabling performance plotting..."
         )
+
+    agent_node = Node(
+        package='rktl_autonomy',
+        executable='rocket_league_agent',
+        name=LaunchConfiguration('agent_name'),
+        output='screen',
+        parameters=[{'rate': LaunchConfiguration('rate')}],
+        namespace=LaunchConfiguration('agent_name')
+        )
+
+    sim_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(['src/rktl_launch/launch/rocket_league_sim.launch.py']),  # TODO: Replace with the path to the launch file
+        launch_arguments={
+            'render': LaunchConfiguration('render'),
+            'sim_mode': LaunchConfiguration('sim_mode'),
+            'agent_type': LaunchConfiguration('agent_type'),
+        }.items(),
+        )
+
+    plotter_node = Node(
+        condition=IfCondition(LaunchConfiguration('plot_log')),
+        package='rktl_autonomy',
+        executable='plotter',
+        name='plotter',
+        output='screen',
+        remappings=[('~log', LaunchConfiguration('log_file'))],
+        namespace=LaunchConfiguration('agent_name')
+        )
+
+    return LaunchDescription([
+        plot_log_launch_arg,
+        agent_name_launch_arg,
+        log_file_launch_arg,
+        render_launch_arg,
+        sim_mode_launch_arg,
+        rate_launch_arg,
+        agent_type_launch_arg,
+        plot_log_info,
+        agent_node,
+        sim_launch,
+        plotter_node
     ])
diff --git a/src/rktl_autonomy/nodes/plotter → src/rktl_autonomy/rktl_autonomy/plotter.py b/src/rktl_autonomy/nodes/plotter → src/rktl_autonomy/rktl_autonomy/plotter.py
diff --git a/src/rktl_autonomy/setup.py b/src/rktl_autonomy/setup.py
@@ -24,7 +24,8 @@
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            'rocket_league_agent = rktl_autonomy.rocket_league_agent:main'
+            'rocket_league_agent = rktl_autonomy.rocket_league_agent:main',
+            'plotter = rktl_autonomy.plotter:main'
         ],
     },
 )
diff --git a/src/rktl_launch/launch/rocket_league_sim.launch.py b/src/rktl_launch/launch/rocket_league_sim.launch.py
@@ -1,10 +1,8 @@
 import os
-import sys
-
 import launch
 import launch_ros.actions
 from ament_index_python.packages import get_package_share_directory
-
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 def generate_launch_description():
     ld = launch.LaunchDescription([
@@ -50,7 +48,7 @@ def generate_launch_description():
                     condition=launch.conditions.LaunchConfigurationEquals('sim_mode', 'realistic')
                 ),
                 launch.actions.IncludeLaunchDescription(
-                    launch.launch_description_sources.PythonLaunchDescriptionSource(
+                    PythonLaunchDescriptionSource(
                         os.path.join(get_package_share_directory(
                         'rktl_sim'), 'launch', 'visualizer.launch.py')
                     ),
@@ -88,7 +86,7 @@ def generate_launch_description():
                     'rktl_launch'), 'rqt','rktl.perspective')
         ),
         launch.actions.IncludeLaunchDescription(
-            launch.launch_description_sources.PythonLaunchDescriptionSource(
+            PythonLaunchDescriptionSource(
                 os.path.join(get_package_share_directory(
                     'rktl_sim'), 'launch/simulator.launch.py')
             ),
@@ -97,7 +95,7 @@ def generate_launch_description():
             }.items()
         ),
         launch.actions.IncludeLaunchDescription(
-            launch.launch_description_sources.PythonLaunchDescriptionSource(
+            PythonLaunchDescriptionSource(
                 os.path.join(get_package_share_directory(
                     'rktl_planner'), 'launch/simple_agent.launch.py')
             ),
@@ -107,7 +105,7 @@ def generate_launch_description():
             }.items()
         ),
         launch.actions.IncludeLaunchDescription(
-            launch.launch_description_sources.PythonLaunchDescriptionSource(
+            PythonLaunchDescriptionSource(
                 os.path.join(get_package_share_directory(
                     'rktl_autonomy'), 'launch/rocket_league/rocket_league_agent.launch.py')
             ),
@@ -116,7 +114,7 @@ def generate_launch_description():
             }.items()
         ),
         launch.actions.IncludeLaunchDescription(
-            launch.launch_description_sources.PythonLaunchDescriptionSource(
+            PythonLaunchDescriptionSource(
                 os.path.join(get_package_share_directory(
                     'rktl_planner'), 'launch/patrol_agent.launch.py')
             ),