From f37f441278b679bc8f7fbdabf2792a5169931e16 Mon Sep 17 00:00:00 2001 From: Fernando Cladera Date: Wed, 25 Mar 2026 15:21:25 -0400 Subject: [PATCH 1/2] Fix launch file for rajant using new rssi polling --- .../launch/rajant_nodes.launch.py | 21 ++++--------------- 1 file changed, 4 insertions(+), 17 deletions(-) diff --git a/interface_rajant/launch/rajant_nodes.launch.py b/interface_rajant/launch/rajant_nodes.launch.py index dfb3934..19fcc97 100644 --- a/interface_rajant/launch/rajant_nodes.launch.py +++ b/interface_rajant/launch/rajant_nodes.launch.py @@ -40,22 +40,10 @@ def generate_launch_description(): radio_configs = LaunchConfiguration('radio_configs') # Define nodes - rajant_query_node = Node( + rajant_peer_rssi = Node( package='interface_rajant', - executable='rajant_query.py', - name='rajant_query', - output='screen', - parameters=[{ - 'robot_name': robot_name, - 'robot_configs': robot_configs, - 'radio_configs': radio_configs - }] - ) - - rajant_parser_node = Node( - package='interface_rajant', - executable='rajant_parser.py', - name='rajant_parser', + executable='rajant_peer_rssi.py', + name='rajant_peer_rssi', output='screen', parameters=[{ 'robot_name': robot_name, @@ -68,6 +56,5 @@ def generate_launch_description(): robot_name_arg, robot_configs_arg, radio_configs_arg, - rajant_query_node, - rajant_parser_node + rajant_peer_rssi ]) From 578dd8f271550fee6f794f18a99306938498ae3a Mon Sep 17 00:00:00 2001 From: Fernando Cladera Date: Wed, 25 Mar 2026 15:45:35 -0400 Subject: [PATCH 2/2] More fixes for rajant_nodes.launch to include dynamic jar file --- interface_rajant/launch/rajant_nodes.launch.py | 16 ++++++++++++++-- 1 file changed, 14 insertions(+), 2 deletions(-) diff --git a/interface_rajant/launch/rajant_nodes.launch.py b/interface_rajant/launch/rajant_nodes.launch.py index 19fcc97..c339d69 100644 --- a/interface_rajant/launch/rajant_nodes.launch.py +++ b/interface_rajant/launch/rajant_nodes.launch.py @@ -34,10 +34,20 @@ def generate_launch_description(): description='Path to radio configuration file' ) + bcapi_jar_file_arg = DeclareLaunchArgument( + 'bcapi_jar_file', + default_value=PathJoinSubstitution([ + FindPackageShare('interface_rajant'), + 'thirdParty', 'PeerRSSI-bcapi-11.26.1.jar' + ]), + description='Path to jar file used to get rssi' + ) + # Get launch configurations robot_name = LaunchConfiguration('robot_name') robot_configs = LaunchConfiguration('robot_configs') radio_configs = LaunchConfiguration('radio_configs') + bcapi_jar_file = LaunchConfiguration('bcapi_jar_file') # Define nodes rajant_peer_rssi = Node( @@ -48,7 +58,8 @@ def generate_launch_description(): parameters=[{ 'robot_name': robot_name, 'robot_configs': robot_configs, - 'radio_configs': radio_configs + 'radio_configs': radio_configs, + 'bcapi_jar_file': bcapi_jar_file }] ) @@ -56,5 +67,6 @@ def generate_launch_description(): robot_name_arg, robot_configs_arg, radio_configs_arg, - rajant_peer_rssi + bcapi_jar_file_arg, + rajant_peer_rssi, ])