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

…into ros-2-complete

src/rktl_control/launch/ball.launch.py

@@ -1,10 +1,7 @@
-import os
-import sys
-
 import launch
 import launch_ros.actions
-from ament_index_python.packages import get_package_share_directory
-
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 
 def generate_launch_description():
     ld = launch.LaunchDescription([
@@ -16,7 +13,7 @@ def generate_launch_description():
             output='screen',
             parameters=[
                 {
-                    launch.substitutions.PathJoinSubstitution(launch_ros.substitutions.FindPackageShare('rktl_control'), '/config/mean_odom_filter.yaml')
+                    PathJoinSubstitution([FindPackageShare('rktl_control'), '/config/mean_odom_filter.yaml'])
                 }
             ]
         )

src/rktl_control/launch/car.launch.py

@@ -1,9 +1,9 @@
-import os
-import sys
-
 import launch
 import launch_ros.actions
+from launch.substitutions import *
+from launch.conditions import IfCondition
 
+from launch_ros.substitutions import FindPackageShare
 
 def generate_launch_description():
     ld = launch.LaunchDescription([
@@ -17,20 +17,22 @@ def generate_launch_description():
         ),
         launch.actions.GroupAction(
             actions=[
-                launch_ros.actions.PushRosNamespace("cars/" + launch.substitutions.LaunchConfiguration("car_name")),
+                #launch_ros.actions.PushRosNamespace("cars/" + launch.substitutions.LaunchConfiguration("car_name")),
 
                 launch_ros.actions.Node(
                     package='rktl_control',
                     executable='particle_odom_filter',
                     name='particle_odom_filter',
                     output='screen',
-                    condition=launch.conditions.LaunchConfigurationEquals('use_particle_filter', True),
+                    condition=IfCondition(
+                        EqualsSubstitution(LaunchConfiguration('use_particle_filter'), 'true')
+                    ),
                     parameters=[
                         {
-                            launch.substitutions.PathJoinSubstitution(launch_ros.substitutions.FindPackageShare('rktl_control'), '/config/particle_odom_filter.yaml')
+                            PathJoinSubstitution([FindPackageShare('rktl_control'), '/config/particle_odom_filter.yaml'])
                         },
                         {
-                            'frame_ids/body': launch.substitutions.LaunchConfiguration('car_name')
+                            'frame_ids/body': LaunchConfiguration('car_name')
                         }
                     ]
                 ),
@@ -40,13 +42,15 @@ def generate_launch_description():
                     executable='mean_odom_filter',
                     name='mean_odom_filter',
                     output='screen',
-                    condition=launch.conditions.LaunchConfigurationNotEquals('use_particle_filter', True),
+                    condition=IfCondition(
+                        EqualsSubstitution(LaunchConfiguration('use_particle_filter'), 'true')
+                    ),
                     parameters=[
                         {
-                            launch.substitutions.PathJoinSubstitution(launch_ros.substitutions.FindPackageShare('rktl_control'), '/config/mean_odom_filter.yaml')
+                            PathJoinSubstitution([FindPackageShare('rktl_control'), '/config/mean_odom_filter.yaml'])
                         },
                         {
-                            'frame_ids/body': launch.substitutions.LaunchConfiguration('car_name')
+                            'frame_ids/body': LaunchConfiguration('car_name')
                         }
                     ]
                 ),
@@ -58,8 +62,8 @@ def generate_launch_description():
                     output='screen',
                     parameters=[
                         {
-                            launch.substitutions.PathJoinSubstitution(launch_ros.substitutions.FindPackageShare('rktl_control'), '/config/controller.yaml')
-                        },
+                            PathJoinSubstitution([FindPackageShare('rktl_control'), '/config/controller.yaml'])
+                        }
                     ]
                 )
             ]

src/rktl_control/rktl_control/__init__.py

@@ -0,0 +1,31 @@
+"""
+This package manipulates a ROS network so that it provides an enviornment to
+train an AI. In short, it uses the sim time mechanism used to replay bag files
+to mess with how time progresses, so that an arbitrary ROS network can be used
+as an environment, specifically, an OpenAI Gym environment.
+
+This can be used for both training and evaluation purposes. When training, it
+manipulates time so that the network gets what it needs. It evaluation, it
+runs the network as fast as real time is progressing.
+
+License:
+  BSD 3-Clause License
+  Copyright (c) 2023, Autonomous Robotics Club of Purdue (Purdue ARC)
+  All rights reserved.
+"""
+
+from ._ros_interface import ROSInterface
+# from .cartpole_interface import CartpoleInterface
+# from .cartpole_direct_interface import CartpoleDirectInterface
+# from .snake_interface import SnakeInterface
+from .rocket_league_interface import RocketLeagueInterface
+# from .env_counter import EnvCounter
+
+__all__ = [
+    "ROSInterface",
+    # "CartpoleInterface",
+    # "CartpoleDirectInterface",
+    # "SnakeInterface",
+    "RocketLeagueInterface"
+    # "EnvCounter"
+]

src/rktl_control/rktl_control/mean_odom_filter.py

@@ -149,6 +149,8 @@ def sample_velocity(self):
 
         return (avg_vx, avg_vy, avg_omega)
 
+def main():
+    MeanOdomFilter()
 
 if __name__ == "__main__":
-    MeanOdomFilter()
+    main()

src/rktl_control/rktl_control/particle_odom_filter.py

@@ -467,6 +467,8 @@ def particle_init(self, num_particles):
                 random_internal),
                 axis=1)
 
+def main():
+    ParticleOdomFilter()
 
 if __name__ == "__main__":
-    ParticleOdomFilter()
+    main()

src/rktl_control/setup.py

@@ -23,7 +23,9 @@
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            "controller_node = rktl_control2.controller:main"
+            "controller = rktl_control.controller:main",
+            "mean_odom_filter = rktl_control.mean_odom_filter:main",
+            "particle_odom_filter = rktl_control.particle_odom_filter:main"
         ],
     },
 )