fixed filepath errors in launch files

purdue-arc · Feb 25, 2024 · b8f8769 · b8f8769
1 parent d8299fa
commit b8f8769
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Showing 6 changed files with 18 additions and 14 deletions.
diff --git a/...nomy/launch/rocket_league_agent_launch.py → ...nomy/launch/rocket_league_agent.launch.py b/...nomy/launch/rocket_league_agent_launch.py → ...nomy/launch/rocket_league_agent.launch.py
diff --git a/...nomy/launch/rocket_league_train_launch.py → ...nomy/launch/rocket_league_train.launch.py b/...nomy/launch/rocket_league_train_launch.py → ...nomy/launch/rocket_league_train.launch.py
@@ -5,6 +5,8 @@
 from launch_ros.actions import Node
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 
 def generate_launch_description():
     plot_log_launch_arg = DeclareLaunchArgument(
@@ -63,14 +65,15 @@ def generate_launch_description():
         namespace=LaunchConfiguration('agent_name')
         )
 
+    sim_path = PathJoinSubstitution([FindPackageShare('rktl_launch'), 'launch', 'rocket_league_sim.launch.py'])
     sim_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(['src/rktl_launch/launch/rocket_league_sim.launch.py']),  # TODO: Replace with the path to the launch file
-        launch_arguments={
-            'render': LaunchConfiguration('render'),
-            'sim_mode': LaunchConfiguration('sim_mode'),
-            'agent_type': LaunchConfiguration('agent_type'),
-        }.items(),
-        )
+                PythonLaunchDescriptionSource([sim_path]),  # TODO: Replace with the path to the launch file
+                launch_arguments={
+                    'render': LaunchConfiguration('render'),
+                    'sim_mode': LaunchConfiguration('sim_mode'),
+                    'agent_type': LaunchConfiguration('agent_type'),
+                }.items(),
+                )
 
     plotter_node = Node(
         condition=IfCondition(LaunchConfiguration('plot_log')),

diff --git a/src/rktl_game/launch/game.launch.py b/src/rktl_game/launch/game.launch.py
@@ -1,8 +1,7 @@
 import os
-import sys
-
 import launch
 import launch_ros.actions
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 from ament_index_python.packages import get_package_share_directory
 
 
@@ -15,7 +14,7 @@ def generate_launch_description():
             output='screen'
         ),
         launch.actions.IncludeLaunchDescription(
-            launch.launch_description_sources.PythonLaunchDescriptionSource(
+            PythonLaunchDescriptionSource(
                 os.path.join(get_package_share_directory(
                     'rosbridge_server'), 'launch/rosbridge_websocket.launch.py')
             )

diff --git a/src/rktl_launch/launch/rocket_league_sim.launch.py b/src/rktl_launch/launch/rocket_league_sim.launch.py
@@ -107,7 +107,7 @@ def generate_launch_description():
         launch.actions.IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
                 os.path.join(get_package_share_directory(
-                    'rktl_autonomy'), 'launch/rocket_league/rocket_league_agent.launch.py')
+                    'rktl_autonomy'), 'launch/rocket_league_agent.launch.py')
             ),
             launch_arguments={
                 'weights_name': launch.substitutions.LaunchConfiguration('autonomy_weights')

diff --git a/src/rktl_planner/launch/patrol_agent.launch.py b/src/rktl_planner/launch/patrol_agent.launch.py
@@ -3,9 +3,11 @@
 
 import launch
 import launch_ros.actions
+from launch.substitutions import PathJoinSubstitution
 from ament_index_python.packages import get_package_share_directory
 
 
+
 def generate_launch_description():
     ld = launch.LaunchDescription([
         launch.actions.DeclareLaunchArgument(
@@ -14,7 +16,7 @@ def generate_launch_description():
         ),
         launch_ros.actions.Node(
             package='rktl_planner',
-            namespace="cars/"+launch.substitutions.LaunchConfiguration("car_name"),
+            namespace=PathJoinSubstitution(["cars/", launch.substitutions.LaunchConfiguration("car_name")]),
             executable='patrol_planner',
             name='patrol_planner',
             output='screen',

diff --git a/src/rktl_planner/launch/simple_agent.launch.py b/src/rktl_planner/launch/simple_agent.launch.py
@@ -24,7 +24,7 @@ def generate_launch_description():
                     output="screen",
                     parameters=[
                         {
-                            launch.substitutions.PathJoinSubstitution(launch_ros.substitutions.FindPackageShare('rktl_planner'), '/config/path_follower.yaml')
+                            launch.substitutions.PathJoinSubstitution([launch_ros.substitutions.FindPackageShare('rktl_planner'), '/config/path_follower.yaml'])
                         },
                         {
                             "car_name": launch.substitutions.LaunchConfiguration("car_name")
@@ -44,7 +44,7 @@ def generate_launch_description():
                     output="screen",
                     parameters=[
                         {
-                            launch.substitutions.PathJoinSubstitution(launch_ros.substitutions.FindPackageShare('rktl_planner'), '/config/path_planner.yaml')
+                            launch.substitutions.PathJoinSubstitution([launch_ros.substitutions.FindPackageShare('rktl_planner'), '/config/path_planner.yaml'])
                         },
                         {
                             "car_name": launch.substitutions.LaunchConfiguration("car_name")