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

…into ros-2-complete

src/rktl_launch/launch/rocket_league.launch.py

@@ -25,8 +25,8 @@ def generate_launch_description():
             package='rqt_gui',
             executable='rqt_gui',
             name='rqt_gui',
-            arguments='--perspective-file ' + os.path.join(get_package_share_directory(
-                    'rktl_launch'), 'rqt','rktl.perspective')
+            arguments=['--perspective-file', os.path.join(get_package_share_directory(
+                    'rktl_launch'), 'rqt','rktl.perspective')]
         ),
         launch_ros.actions.SetParametersFromFile(
             filename=os.path.join(get_package_share_directory(

src/rktl_launch/launch/rocket_league_sim.launch.py

@@ -84,7 +84,7 @@ def generate_launch_description():
             executable='rqt_gui',
             name='rqt_gui',
             condition=launch.conditions.LaunchConfigurationEquals('render', 'true'),
-            arguments=['--perspective-file ' + os.path.join(get_package_share_directory(
+            arguments=['--perspective-file', os.path.join(get_package_share_directory(
                     'rktl_launch'), 'rqt','rktl.perspective')]
         ),
         launch.actions.IncludeLaunchDescription(

src/rktl_sim/rktl_sim/sim_simulator.py

@@ -17,13 +17,12 @@
 
 #import rospy
 
-from std_srvs.srv import Empty, EmptyResponse
+from std_srvs.srv import Empty, Empty_Response # might not need Empty_Response
 from threading import Lock
 from enum import Enum
 
 
 # local libraries
-from rktl_sim.nodes import simulator
 from rktl_msgs.msg import MatchStatus, ControlCommand, ControlEffort
 
 
@@ -171,7 +170,7 @@ def reset_cb(self, _):
 
         self.last_time = None
         self.reset_lock.release()
-        return EmptyResponse()
+        return Empty_Response() # might be Empty()
 
     def reset_ball_cb(self, _):
         """Resets the ball sensor noise and pose WITHOUT resetting the whole sim."""
@@ -183,7 +182,7 @@ def reset_ball_cb(self, _):
         self.ball_init_speed = self.get_sim_param('/ball/init_speed')
 
         self.sim.reset_ball()
-        return EmptyResponse()
+        return Empty_Response() # might be Empty()
 
     def loop_once(self):
         """Step the simulation once step, updating match status, moving and publishing new car and ball positions."""

src/rktl_sim/rktl_sim/vis_visualizer.py

@@ -23,7 +23,6 @@
 
 
 # Local library
-from rktl_sim.nodes import visualizer
 from rktl_msgs.msg import Path, BezierPathList
 from rktl_planner import BezierPath