fixed launch file bugs

purdue-arc · Feb 25, 2024 · 438ebbe · 438ebbe
1 parent 36e85c0
commit 438ebbe
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Showing 7 changed files with 29 additions and 22 deletions.
diff --git a/src/rktl_autonomy/launch/rocket_league_train.launch.py b/src/rktl_autonomy/launch/rocket_league_train.launch.py
@@ -93,8 +93,8 @@ def generate_launch_description():
         sim_mode_launch_arg,
         rate_launch_arg,
         agent_type_launch_arg,
-        plot_log_info,
+        # plot_log_info,
         agent_node,
         sim_launch,
-        plotter_node
+        # plotter_node
     ])
diff --git a/src/rktl_control/launch/hardware_interface.launch.py b/src/rktl_control/launch/hardware_interface.launch.py
@@ -14,7 +14,7 @@ def generate_launch_description():
             name='hardware_interface',
             parameters=[
                 {
-                    launch.substitutions.PathJoinSubstitution(launch_ros.substitutions.FindPackageShare('rktl_control'), '/config/hardware_interface.yaml')
+                    launch.substitutions.PathJoinSubstitution([launch_ros.substitutions.FindPackageShare('rktl_control'), '/config/hardware_interface.yaml'])
                 }
             ]
         )

diff --git a/src/rktl_control/launch/keyboard_control.launch.py b/src/rktl_control/launch/keyboard_control.launch.py
@@ -12,7 +12,7 @@ def generate_launch_description():
             default_value='car0'
         ),
         launch_ros.actions.Node(
-            namespace=launch.substitutions.PathJoinSubstitution('cars/', launch_ros.substitutions.FindPackageShare('car_name')),
+            namespace=launch.substitutions.PathJoinSubstitution(['cars/', launch_ros.substitutions.FindPackageShare('car_name')]),
             package='rktl_control',
             executable='keyboard_interface',
             name='keyboard_interface',

diff --git a/src/rktl_launch/launch/c3po.launch.py b/src/rktl_launch/launch/c3po.launch.py
@@ -3,13 +3,14 @@
 
 import launch
 import launch_ros.actions
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 from ament_index_python.packages import get_package_share_directory
 
 
 def generate_launch_description():
     ld = launch.LaunchDescription([
         launch.actions.IncludeLaunchDescription(
-            launch.launch_description_sources.PythonLaunchDescriptionSource(
+            PythonLaunchDescriptionSource(
                 os.path.join(get_package_share_directory(
                     'rktl_perception'), 'launch/camera.launch.py')
             ),
@@ -18,7 +19,7 @@ def generate_launch_description():
             }.items()
         ),
         launch.actions.IncludeLaunchDescription(
-            launch.launch_description_sources.PythonLaunchDescriptionSource(
+            PythonLaunchDescriptionSource(
                 os.path.join(get_package_share_directory(
                     'rktl_perception'), 'launch/camera.launch.py')
             ),

diff --git a/src/rktl_launch/launch/r2d2.launch.py b/src/rktl_launch/launch/r2d2.launch.py
@@ -2,6 +2,7 @@
 import sys
 
 import launch
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 import launch_ros.actions
 from ament_index_python.packages import get_package_share_directory
 
@@ -18,7 +19,7 @@ def generate_launch_description():
             ]
         ),
         launch.actions.IncludeLaunchDescription(
-            launch.launch_description_sources.PythonLaunchDescriptionSource(
+            PythonLaunchDescriptionSource(
                 os.path.join(get_package_share_directory(
                     'rktl_perception'), 'launch/camera.launch.py')
             ),
@@ -27,7 +28,7 @@ def generate_launch_description():
             }.items()
         ),
         launch.actions.IncludeLaunchDescription(
-            launch.launch_description_sources.PythonLaunchDescriptionSource(
+            PythonLaunchDescriptionSource(
                 os.path.join(get_package_share_directory(
                     'rktl_perception'), 'launch/camera.launch.py')
             ),
@@ -36,7 +37,7 @@ def generate_launch_description():
             }.items()
         ),
         launch.actions.IncludeLaunchDescription(
-            launch.launch_description_sources.PythonLaunchDescriptionSource(
+            PythonLaunchDescriptionSource(
                 os.path.join(get_package_share_directory(
                     'rktl_launch'), 'launch/rocket_league.launch.py')
             )

diff --git a/src/rktl_launch/launch/rocket_league.launch.py b/src/rktl_launch/launch/rocket_league.launch.py
@@ -1,6 +1,9 @@
 import os
 
 import launch
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, EqualsSubstitution
+from launch.conditions import IfCondition
 import launch_ros.actions
 from ament_index_python.packages import get_package_share_directory
 
@@ -31,26 +34,26 @@ def generate_launch_description():
                     'rktl_launch'), 'config', 'global_params.yaml')
         ),
         launch.actions.IncludeLaunchDescription(
-            launch.launch_description_sources.PythonLaunchDescriptionSource(
+            PythonLaunchDescriptionSource(
                 os.path.join(get_package_share_directory(
                     'rktl_sim'), 'launch/visualizer.launch.py')
             ),
-            condition=launch.conditions.LaunchConfigurationEquals('render', 'true')
+            condition=IfCondition(EqualsSubstitution(LaunchConfiguration('render'), 'true'))
         ),
         launch.actions.IncludeLaunchDescription(
-            launch.launch_description_sources.PythonLaunchDescriptionSource(
+            PythonLaunchDescriptionSource(
                 os.path.join(get_package_share_directory(
                     'rktl_game'), 'launch/game.launch.py')
             )
         ),
         launch.actions.IncludeLaunchDescription(
-            launch.launch_description_sources.PythonLaunchDescriptionSource(
+            PythonLaunchDescriptionSource(
                 os.path.join(get_package_share_directory(
                     'rktl_control'), 'launch/ball.launch.py')
             )
         ),
         launch.actions.IncludeLaunchDescription(
-            launch.launch_description_sources.PythonLaunchDescriptionSource(
+            PythonLaunchDescriptionSource(
                 os.path.join(get_package_share_directory(
                     'rktl_control'), 'launch/car.launch.py')
             ),
@@ -59,41 +62,41 @@ def generate_launch_description():
             }.items()
         ),
         launch.actions.IncludeLaunchDescription(
-            launch.launch_description_sources.PythonLaunchDescriptionSource(
+            PythonLaunchDescriptionSource(
                 os.path.join(get_package_share_directory(
                     'rktl_control'), 'launch/hardware_interface.launch.py')
             )
         ),
         launch.actions.IncludeLaunchDescription(
-            launch.launch_description_sources.PythonLaunchDescriptionSource(
+            PythonLaunchDescriptionSource(
                 os.path.join(get_package_share_directory(
                     'rktl_planner'), 'launch/simple_agent.launch.py')
             ),
             launch_arguments={
                 'agent_name': 'agent0',
                 'car_name': 'car0'
             }.items(),
-            condition=launch.conditions.LaunchConfigurationEquals('agent_type', 'planner')
+            condition=IfCondition(EqualsSubstitution(LaunchConfiguration('agent_type'), 'planner'))
         ),
         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')
             ),
             launch_arguments={
                 'weights_name': launch.substitutions.LaunchConfiguration('autonomy_weights')
             }.items(),
-            condition=launch.conditions.LaunchConfigurationEquals('agent_type', 'autonomy')
+            condition=IfCondition(EqualsSubstitution(LaunchConfiguration('agent_type'), 'autonomy'))
         ),
         launch.actions.IncludeLaunchDescription(
-            launch.launch_description_sources.PythonLaunchDescriptionSource(
+            PythonLaunchDescriptionSource(
                 os.path.join(get_package_share_directory(
                     'rktl_planner'), 'launch/patrol_agent.launch.py')
             ),
             launch_arguments={
                 'car_name': 'car0'
             }.items(),
-            condition=launch.conditions.LaunchConfigurationEquals('agent_type', 'patrol')
+            condition=IfCondition(EqualsSubstitution(LaunchConfiguration('agent_type'), 'patrol'))
         )
     ])
     return ld

diff --git a/src/rktl_launch/launch/rocket_league_sim.launch.py b/src/rktl_launch/launch/rocket_league_sim.launch.py
@@ -1,6 +1,8 @@
 import os
 import launch
 import launch_ros.actions
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration, EqualsSubstitution
 from ament_index_python.packages import get_package_share_directory
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 
@@ -45,7 +47,7 @@ def generate_launch_description():
                             value="Ground Truth",
                         )
                     ],
-                    condition=launch.conditions.LaunchConfigurationEquals('sim_mode', 'realistic')
+                    condition=IfCondition(EqualsSubstitution(LaunchConfiguration('sim_mode'), 'realistic'))
                 ),
                 launch.actions.IncludeLaunchDescription(
                     PythonLaunchDescriptionSource(