Add config for real robots

manager/manager/launcher/launcher_o3de.py

@@ -13,6 +13,7 @@
 from typing import List, Any
 from manager.ram_logging.log_manager import LogManager
 
+
 class LauncherO3de(ILauncher):
     running: bool = False
     threads: List[Any] = []
@@ -50,7 +51,7 @@ def unpause(self):
         pass
 
     def reset(self):
-        #TODO: add reset
+        # TODO: add reset
         pass
 
     def get_dri_path(self):

manager/manager/launcher/launcher_o3de_api.py

@@ -15,6 +15,7 @@
 
 import logging
 
+
 class LauncherO3deApi(ILauncher):
     display: str
     internal_port: int
@@ -31,19 +32,19 @@ def run(self, callback):
         DRI_PATH = self.get_dri_path()
         ACCELERATION_ENABLED = self.check_device(DRI_PATH)
 
-        #TODO: add run here
+        # TODO: add run here
 
         xserver_cmd = f"/usr/bin/Xorg -quiet -noreset +extension GLX +extension RANDR +extension RENDER -logfile ./xdummy.log -config ./xorg.conf :0"
         xserver_thread = DockerThread(xserver_cmd)
         xserver_thread.start()
         self.threads.append(xserver_thread)
-        
-        LevelSelect=f'echo "LoadLevel Levels/{self.launch_file}" > data/workspace/ROS2Demo/autoexec.cfg'
-        
+
+        LevelSelect = f'echo "LoadLevel Levels/{self.launch_file}" > data/workspace/ROS2Demo/autoexec.cfg'
+
         LevelSelect_thread = DockerThread(LevelSelect)
         LevelSelect_thread.start()
         self.threads.append(LevelSelect_thread)
-        
+
         if ACCELERATION_ENABLED:
             # Starts xserver, x11vnc and novnc
             self.gz_vnc.start_vnc_gpu(
@@ -61,7 +62,7 @@ def run(self, callback):
         gzclient_thread.start()
         self.threads.append(gzclient_thread)
 
-        process_name = 'ROS2Demo.GameLauncher'
+        process_name = "ROS2Demo.GameLauncher"
         wait_for_process_to_start(process_name, timeout=360)
 
     def terminate(self):

manager/manager/launcher/launcher_rviz.py

@@ -23,8 +23,8 @@ def run(self, config_file, callback):
         config = "ros2 run rviz2 rviz2"
 
         if config_file != None:
-            config = f'ros2 launch {config_file}'
-        
+            config = f"ros2 launch {config_file}"
+
         print(config)
         if ACCELERATION_ENABLED:
             self.console_vnc.start_vnc_gpu(
@@ -69,7 +69,6 @@ def terminate(self):
     def died(self):
         pass
 
-
     # rviz_node_full = Node(
     #     package="rviz2",
     #     executable="rviz2",
@@ -80,7 +79,7 @@ def died(self):
     #         robot_description,
     #         robot_description_semantic,
     #         kinematics_yaml,
-            
+
     #         pilz_planning_pipeline_config,
 
     #         joint_limits,
@@ -92,4 +91,4 @@ def died(self):
     #         move_group_capabilities,
     #         {"use_sim_time": True},
     #     ]
-    # )
+    # )

manager/manager/launcher/launcher_tools.py

@@ -85,7 +85,7 @@ class LauncherTools(BaseModel):
     def run(self, consumer):
         for tool in self.tools:
             if tool == "simulator":
-                if self.world_type is None:
+                if self.world_type is None or self.world_type == "physical":
                     continue
                 tool = simulator[self.world_type]["tool"]
             module = tools[tool]

manager/manager/launcher/launcher_world.py

@@ -41,7 +41,16 @@
             }
         ],
     },
-    "physical": {},
+    "physical": {
+        "2": [
+            {
+                "type": "real",
+                "module": "ros2_api",
+                "parameters": [],
+                "launch_file": [],
+            }
+        ],
+    },
 }
 
 

manager/manager/vnc/vnc_server.py

@@ -40,9 +40,9 @@ def start_vnc(self, display, internal_port, external_port):
         wait_for_xserver(display)
 
         certs = ""
-        
+
         if os.path.isfile("/etc/certs/cert.pem"):
-           certs = "--cert /etc/certs/cert.pem --key /etc/certs/privkey.pem"
+            certs = "--cert /etc/certs/cert.pem --key /etc/certs/privkey.pem"
 
         # Start noVNC with default port 6080 listening to VNC server on 5900
         if self.get_ros_version() == "2":
@@ -89,9 +89,9 @@ def start_vnc_gpu(self, display, internal_port, external_port, dri_path):
         wait_for_xserver(display)
 
         certs = ""
-        
+
         if os.path.isfile("/etc/certs/cert.pem"):
-           certs = "--cert /etc/certs/cert.pem --key /etc/certs/privkey.pem"
+            certs = "--cert /etc/certs/cert.pem --key /etc/certs/privkey.pem"
 
         # Start noVNC with default port 6080 listening to VNC server on 5900
         if self.get_ros_version() == "2":