Merge pull request #101 from JdeRobot/issue-100

Added world types
JdeRobot · Oct 25, 2023 · 1e7ca97 · 1e7ca97
2 parents 1464efd + 1897554
commit 1e7ca97
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Showing 3 changed files with 60 additions and 5 deletions.
diff --git a/manager/manager/launcher/launcher_drones_ros2.py b/manager/manager/launcher/launcher_drones_ros2.py
@@ -13,7 +13,7 @@ class LauncherDronesRos2(ILauncher):
     resource_folders: List[str]
     model_folders: List[str]
     plugin_folders: List[str]
-    world_file: str
+    launch_file: str
     running = False
     threads: List[Any] = []
 
@@ -27,7 +27,7 @@ def run(self, callback):
 
         # expand variables in configuration paths
         self._set_environment()
-        world_file = os.path.expandvars(self.world_file)
+        world_file = os.path.expandvars(self.launch_file)
 
         # Launching MicroXRCE and Aerostack2 nodes
         as2_launch_cmd = f"ros2 launch jderobot_drones as2_default_classic_gazebo.launch.py world_file:={world_file}"

diff --git a/manager/manager/launcher/launcher_engine.py b/manager/manager/launcher/launcher_engine.py
@@ -1,10 +1,50 @@
-from typing import Any
+from typing import List, Any
 
 from pydantic import BaseModel
 import time
 from src.manager.libs.process_utils import get_class, class_from_module
 from src.manager.ram_logging.log_manager import LogManager
 
+worlds = {
+            "gazebo": 
+                {"1": [{
+                    "type": "module",
+                    "module": "ros_api",
+                    "resource_folders": [],
+                    "model_folders": [],
+                    "plugin_folders": [],
+                    "parameters": [],
+                    "launch_file": [],
+                }], "2": [{
+                    "type": "module",
+                    "module": "ros2_api",
+                    "resource_folders": [],
+                    "model_folders": [],
+                    "plugin_folders": [],
+                    "parameters": [],      
+                    "launch_file": [],
+                }]},
+            "drones": 
+                {"1": [{
+                    "type": "module",
+                    "module": "drones",
+                    "resource_folders": [],
+                    "model_folders": [],
+                    "plugin_folders": [],
+                    "parameters": [],
+                    "launch_file": [],
+                }], "2": [{
+                    "type": "module",
+                    "module": "drones_ros2",
+                    "resource_folders": [],
+                    "model_folders": [],
+                    "plugin_folders": [],
+                    "parameters": [],      
+                    "launch_file": [],
+                }]},
+            "physical": {}
+            }
+
 visualization = {
             "none": [],
             "console": [{"module":"console",
@@ -80,13 +120,27 @@
 
 class LauncherEngine(BaseModel):
     exercise_id: str
+    ros_version: int
     launch: dict
+    world: str
+    resource_folders: str
+    model_folders: str
+    launch_file: str
     visualization: str
     module:str = '.'.join(__name__.split('.')[:-1])
     terminated_callback: Any = None
 
     def run(self):
         keys = sorted(self.launch.keys())
+        # Launch world
+        for module in worlds[self.world][str(self.ros_version)]:
+            module["exercise_id"] = self.exercise_id
+            module["resource_folders"] = [self.resource_folders]
+            module["model_folders"] = [self.model_folders]
+            module["launch_file"] = self.launch_file
+            launcher = self.launch_module(module)
+            self.launch[str(module['module'])] = {'launcher': launcher}
+        # Launch plugins
         for key in keys:
             launcher_data = self.launch[key]
             launcher_type = launcher_data['type']
@@ -105,7 +159,7 @@ def run(self):
                 self.launch_command(launcher_data)            
             else:
                 raise LauncherEngineException(f"Launcher type {launcher_type} not valid")
-        # Launch visualization        
+        # Launch visualization
         for module in visualization[self.visualization]:
             module["exercise_id"] = self.exercise_id
             launcher = self.launch_module(module)

diff --git a/manager/manager/manager.py b/manager/manager/manager.py
@@ -117,6 +117,7 @@ def terminated_callback(name, code):
                 self.terminate()
 
         configuration = event.kwargs.get('data', {})
+        configuration['ros_version'] = self.ros_version
 
         # generate exercise_folder environment variable
         self.exercise_id = configuration['exercise_id']
@@ -292,7 +293,7 @@ def signal_handler(sign, frame):
 
     def get_ros_version(self):
         output = subprocess.check_output(['bash', '-c', 'echo $ROS_VERSION'])
-        return output.decode('utf-8')
+        return output.decode('utf-8')[0]
 
 if __name__ == "__main__":
     import argparse