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Refactor launch files #211

Merged
merged 7 commits into from
Jun 12, 2023
Merged

Refactor launch files #211

merged 7 commits into from
Jun 12, 2023

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nahueespinosa
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Proposed changes

Related to #165.

This is a refactor of the launch files in the repository to make them more useful for testing on real robots and to make it easier to add different rosbags, maps, and configurations.

  • Rename launch files to better convey their purpose (localization, rviz, rosbag, simulation).
  • Minor Python code changes to maintain consistency between launch files.
  • Remove /clock topic and last 10 seconds from perfect_odometry rosbag before it collides with the wall.
  • Add use_composition parameter to run lifecycle_manager, map_server and beluga_amcl in a single process.
  • Rename localization node parameters in launch file.
  • Move config/params.yml to params/default.yaml.
  • Update the profiling and benchmarking scripts.
  • Update documentation.

Type of change

  • 🐛 Bugfix (change which fixes an issue)
  • 🚀 Feature (change which adds functionality)
  • 📚 Documentation (change which fixes or extends documentation)

💥 Breaking change! This is necessary to better support real robot deployments.

Checklist

  • Lint and unit tests (if any) pass locally with my changes
  • I have added tests that prove my fix is effective or that my feature works
  • I have added necessary documentation (if appropriate)
  • All commmits have been signed for DCO

@nahueespinosa nahueespinosa added enhancement New feature or request ros Related to ROS python Related to Python code labels Jun 10, 2023
@nahueespinosa nahueespinosa self-assigned this Jun 10, 2023
@nahueespinosa nahueespinosa marked this pull request as ready for review June 10, 2023 18:53
@nahueespinosa nahueespinosa mentioned this pull request Jun 11, 2023
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7 tasks
glpuga
glpuga previously approved these changes Jun 11, 2023
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beluga_benchmark/scripts/profiling/profile_amcl_with_bagfile Outdated Show resolved Hide resolved
beluga_example/launch/utils/localization_launch.py Outdated Show resolved Hide resolved
beluga_example/launch/utils/localization_launch.py Outdated Show resolved Hide resolved
beluga_benchmark/scripts/profiling/profile_amcl_with_bagfile Outdated Show resolved Hide resolved
@nahueespinosa
Refactor launch files
ea7798f 
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
@nahueespinosa
Set rosbag_launch as a utility
1c47351 
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
@nahueespinosa
Use default playback rate when profilying
9bf5e84 
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
@nahueespinosa
Fix typos in argument descriptions
6e66c09 
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
@nahueespinosa nahueespinosa force-pushed the nahuel/rework-launchfiles branch 2 times, most recently from 9d6e2a2 to f2272d7 Compare June 12, 2023 00:35
@nahueespinosa
Use launch XML format for less verbose files
3c88c4c 
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
hidmic
hidmic previously approved these changes Jun 12, 2023
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LGTM

beluga_example/README.md Outdated Show resolved Hide resolved
@nahueespinosa
Fix punctuation
2dcf649 
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
@nahueespinosa
Shorten the name of the argument
bd2734f 
Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
@hidmic hidmic mentioned this pull request Jun 12, 2023
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@nahueespinosa
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@hidmic @glpuga Thanks for the reviews! Pushing new commits dismisses previous approvals, can I get a final LGTM?

@nahueespinosa nahueespinosa merged commit d444ca5 into main Jun 12, 2023
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@nahueespinosa nahueespinosa deleted the nahuel/rework-launchfiles branch June 12, 2023 03:19
nahueespinosa added a commit that referenced this pull request Jun 13, 2023
@nahueespinosa
Fix timem output in parameterized runs
39fe50d 
Fixes a bug introduced in #211 that prevented us from generating timem
output.
nahueespinosa added a commit that referenced this pull request Jun 13, 2023
@nahueespinosa
Fix timem output in parameterized runs
ecda4a6 
Fixes a bug introduced in #211 that prevented us from generating timem
output.

Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
@nahueespinosa nahueespinosa mentioned this pull request Jun 13, 2023
Merged
7 tasks
nahueespinosa added a commit that referenced this pull request Jun 13, 2023
@nahueespinosa
Fix timem output in parameterized runs (#221)
f5a6d9c 
Fixes a bug introduced in #211 that prevented us from generating timem
output.

Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
@glpuga glpuga mentioned this pull request Jun 20, 2023
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@hidmic hidmic hidmic approved these changes

@glpuga glpuga glpuga left review comments

@ivanpauno ivanpauno Awaiting requested review from ivanpauno

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@nahueespinosa @hidmic @glpuga