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

…into ros-2-complete

src/rktl_autonomy/test/test_step_node

@@ -12,7 +12,7 @@ import unittest, rostest, rclpy
 from rclpy.duration import Duration
 from nav_msgs.msg import Odometry
 from rktl_msgs.msg import MatchStatus
-from std_srvs.srv import Empty, EmptyResponse
+from std_srvs.srv import Empty, Empty_Response
 from rosgraph_msgs.msg import Clock
 import numpy as np
 from rktl_autonomy.rocket_league_interface import RocketLeagueInterface
@@ -164,7 +164,7 @@ class TestStep(unittest.TestCase):
     def reset(self, __):
         """Do nothing."""
         self.assertTrue(self.want_reset, msg='env reset called when unexpected')
-        return EmptyResponse()
+        return Empty_Response()
 
 if __name__ == '__main__':
     rostest.rosrun('rktl_autonomy', 'test_rktl_rewards', TestStep)

src/rktl_game/rktl_game/nodes/game_manager

@@ -13,7 +13,7 @@ import rclpy
 from std_msgs.msg import Bool, Header
 from nav_msgs.msg import Odometry
 from rktl_msgs.msg import Score, MatchStatus
-from std_srvs.srv import Empty, EmptyResponse
+from std_srvs.srv import Empty, Empty_Response
 
 class ScoreKeeper():
     def __init__(self):
@@ -71,7 +71,7 @@ class ScoreKeeper():
         self.enabled = False
         self.match_status = 0
         self.active_pub.publish(False)
-        return EmptyResponse()
+        return Empty_Response()
 
     def reset(self, _):
         self.orange_score = 0
@@ -83,13 +83,13 @@ class ScoreKeeper():
         header = Header()
         header.stamp = node.get_clock().now()
         self.match_status_pub.publish(MatchStatus(header, 0, self.game_clock, Score(0, 0)))
-        return EmptyResponse()
+        return Empty_Response()
 
     def unpause(self, _):
         self.enabled = True
         self.match_status = 1
         self.active_pub.publish(True)
-        return EmptyResponse()
+        return Empty_Response()
 
     def check_goal(self, ball_pose: Odometry):
         if self.enabled:

src/rktl_game/setup.py

@@ -24,6 +24,7 @@
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
+            'game_manager = rktl_game.node.game_manager:main'
         ],
     },
 )

src/rktl_planner/rktl_planner/nodes/path_planner.py

@@ -137,7 +137,7 @@ def car_odom_cb(self, data: Odometry):
     def ball_odom_cb(self, data: Odometry):
         self.ball_odom = data
 
-    def reset(self, _: EmptyRequest):
+    def reset(self, _: Empty_Request):
         req = self.path_req(self.car_odom, self.ball_odom, self.goal_pos)
         res = self.path_client(req)
         if self.linear_path_pub:
@@ -146,7 +146,7 @@ def reset(self, _: EmptyRequest):
             bezier_path_list = BezierPathList()
             bezier_path_list.paths = res.bezier_paths
             self.bezier_path_pub.publish(bezier_path_list)
-        return EmptyResponse()
+        return Empty_Response()
 
 if __name__ == '__main__':
     PathPlanner()

src/rktl_sim/rktl_sim/nodes/simulator

@@ -17,7 +17,7 @@ import time
 
 #import rospy
 
-from std_srvs.srv import Empty, EmptyResponse
+from std_srvs.srv import Empty, Empty_Response
 from threading import Lock
 from enum import Enum
 
@@ -171,7 +171,7 @@ class Simulator(object):
 
         self.last_time = None
         self.reset_lock.release()
-        return EmptyResponse()
+        return Empty_Response()
 
     def reset_ball_cb(self, _):
         """Resets the ball sensor noise and pose WITHOUT resetting the whole sim."""
@@ -183,7 +183,7 @@ class Simulator(object):
         self.ball_init_speed = self.get_sim_param('/ball/init_speed')
 
         self.sim.reset_ball()
-        return EmptyResponse()
+        return Empty_Response()
 
     def loop_once(self):
         """Step the simulation once step, updating match status, moving and publishing new car and ball positions."""