Cleanup misc

bitbots_utils/launch/README.md → bitbots_bringup/launch/README.md

@@ -3,7 +3,7 @@
 Launch these commands in parallel:
 
 ```bash
-ros2 launch bitbots_utils audio.launch
+ros2 launch bitbots_bringup audio.launch
 ros2 bag record /audio/audio /audio/audio_info
 ```
 

bitbots_bringup/launch/highlevel.launch

@@ -50,7 +50,7 @@
             <arg name="sim" value="$(var sim)"/>
         </include>
     </group>
-    
+
     <!-- launch localization or fake localization -->
     <group if="$(var localization)">
         <include file="$(find-pkg-share bitbots_localization)/launch/localization.launch">
@@ -81,7 +81,7 @@
 
     <!-- launch audio processing -->
     <group if="$(var audio)">
-        <include file="$(find-pkg-share bitbots_utils)/launch/audio.launch">
+        <include file="$(find-pkg-share bitbots_bringup)/launch/audio.launch">
             <arg name="sim" value="$(var sim)" />
         </include>
     </group>

bitbots_bringup/launch/motion.launch

@@ -5,6 +5,17 @@
     <arg name="walking" default="true" description="start the walking" />
     <arg name="torqueless_mode" default="false" description="start without torque, for example for testing the falling detection"/>
 
+    <!-- launch the base footprint -->
+    <node pkg="humanoid_base_footprint" exec="base_footprint" output="screen">
+      <param name="support_state_topics" value="[walk_support_state, dynamic_kick_support_state]"/>
+      <param name="use_sim_time" value="$(var sim)"/>
+    </node>
+
+    <!-- launch the odometry -->
+    <include file="$(find-pkg-share bitbots_odometry)/launch/odometry.launch">
+      <arg name="sim" value="$(var sim)"/>
+    </include>
+
     <!-- if not in simulation or visualization, launch ros_control -->
     <group unless="$(var sim)">
         <group unless="$(var viz)">

bitbots_bringup/launch/motion_standalone.launch

@@ -3,8 +3,12 @@
     <arg name="sim" default="false"/>
     <arg name="viz" default="false"/>
     <arg name="torqueless_mode" default="false" description="start without torque, for example for testing the falling detection"/>
-
-    <include file="$(find-pkg-share bitbots_utils)/launch/base.launch">
+
+    <include file="$(find-pkg-share bitbots_utils)/launch/parameter_blackboard.launch">
+        <arg name="sim" value="$(var sim)"/>
+    </include>
+
+    <include file="$(find-pkg-share bitbots_robot_description)/launch/load_robot_description.launch">
         <arg name="sim" value="$(var sim)"/>
     </include>
 

bitbots_utils/launch/rosbag_record.launch.py → bitbots_bringup/launch/rosbag_record.launch.py

@@ -6,9 +6,7 @@
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, ExecuteProcess, OpaqueFunction
-from launch.conditions import IfCondition
-from launch.substitutions import EnvironmentVariable, EqualsSubstitution, LaunchConfiguration, NotEqualsSubstitution, PathJoinSubstitution
-from launch_ros.actions import Node
+from launch.substitutions import EnvironmentVariable, LaunchConfiguration, PathJoinSubstitution
 
 
 TOPICS_TO_RECORD: List[str] = [
@@ -47,7 +45,6 @@
     '/joint_states',
     '/motion_odometry',
     '/move_base/current_goal',
-    '/obstacles_relative',
     '/pose_with_covariance',
     '/robot_state',
     '/robots_relative',

bitbots_bringup/launch/teamplayer.launch

@@ -14,11 +14,16 @@
     <arg name="vision" default="true" description="Whether the vision system should be started" />
     <arg name="world_model" default="true" description="Whether the world model should be started"/>
 
-    <!-- load the robot description -->
-    <include file="$(find-pkg-share bitbots_utils)/launch/base.launch">
+    <!-- load the global parameters -->
+    <include file="$(find-pkg-share bitbots_utils)/launch/parameter_blackboard.launch">
         <arg name="sim" value="$(var sim)" />
     </include>
 
+    <!-- load the robot description -->
+    <include file="$(find-pkg-share bitbots_robot_description)/launch/load_robot_description.launch">
+        <arg name="sim" value="$(var sim)"/>
+    </include>
+
     <!-- load the motion -->
     <group if="$(var motion)">
         <include file="$(find-pkg-share bitbots_bringup)/launch/motion.launch">

bitbots_utils/launch/tools.launch → bitbots_bringup/launch/tools.launch

@@ -5,11 +5,11 @@
     <arg name="sim" default="false" description="Whether the robot is running in simulation or on real hardware" />
 
     <group if="$(var monitoring)">
-        <include file="$(find-pkg-share bitbots_utils)/launch/monitoring.launch" />
+        <include file="$(find-pkg-share bitbots_bringup)/launch/monitoring.launch" />
     </group>
 
     <group if="$(var record)">
-        <include file="$(find-pkg-share bitbots_utils)/launch/rosbag_record.launch.py">
+        <include file="$(find-pkg-share bitbots_bringup)/launch/rosbag_record.launch.py">
             <arg name="sim" value="$(var sim)" />
         </include>
     </group>

bitbots_bringup/launch/vision_standalone.launch

@@ -5,8 +5,8 @@
     <arg name="camera" default="true" description="true: launches an image provider to get images from a camera (unless sim:=true)" />
     <arg name="debug" default="false" description="true: activates publishing of several debug images" />
 
-    <!-- Add base -->
-    <include file="$(find-pkg-share bitbots_utils)/launch/base.launch">
+    <!-- Load the global parameters-->
+    <include file="$(find-pkg-share bitbots_utils)/launch/parameter_blackboard.launch">
         <arg name="sim" value="$(var sim)" />
     </include>
 

bitbots_bringup/launch/visualization.launch

@@ -3,15 +3,11 @@
     <!-- arguments -->
     <arg name="behavior" default="true" description="if the behavior should be started" />
     <arg name="ipm" default="false" description="if the soccer ipm should be used" />
-    <arg name="localization" default="false" description="if the localization should be used" />
     <arg name="motion" default="true" description="if the motion should be started" />
     <arg name="game_controller" default="false" description="if the game controller node should be started" />
 
-    <!-- set visualization parameter -->
-    <!--param name="visualization_active" value="true" /-->
-
-    <!-- load the robot description -->
-    <include file="$(find-pkg-share bitbots_utils)/launch/base.launch" />
+    <!-- load the global parameters -->
+    <include file="$(find-pkg-share bitbots_utils)/launch/parameter_blackboard.launch" />
 
     <!-- publish dummy imu -->
     <node name="dummy_imu" pkg="bitbots_utils" exec="dummy_imu.py" />
@@ -25,12 +21,15 @@
     <include file="$(find-pkg-share bitbots_bringup)/launch/highlevel.launch">
         <arg name="behavior" value="$(var behavior)" />
         <arg name="ipm" value="$(var ipm)" />
-        <arg name="localization" value="$(var localization)" />
+        <arg name="localization" value="false" />
         <arg name="game_controller" value="$(var game_controller)" />
         <arg name="vision" value="false" />
         <arg name="ipm" value="false" />
     </include>
 
+    <!-- simulate localization -->
+    <node pkg="tf2_ros" exec="static_transform_publisher" name="static_map2odom_tf" args="--x -0.0 --y -0.0 --z 0.0 --qx 0.0 --qy 0.0 --qz 0.0 --qw 1.0 --frame-id map --child-frame-id odom" />
+
     <!-- translate joint goals to joint states -->
     <node name="motor_goals_viz_helper" pkg="bitbots_utils" exec="motor_goals_viz_helper.py"/>
 
@@ -41,5 +40,4 @@
     <include file="$(find-pkg-share humanoid_league_team_communication)/launch/team_comm_test_marker.launch">
         <arg name="rviz" value="false" />
     </include>
-    <!-- <node name="show_world_model_objects" pkg="bitbots_body_behavior" exec="show_world_model_objects.py" output="screen"/> -->
 </launch>

bitbots_bringup/package.xml

@@ -14,21 +14,27 @@
 
     <depend>bitbots_docs</depend>
 
+    <exec_depend condition="$IS_ROBOT != True">wolfgang_webots_sim</exec_depend>
+    <exec_depend>audio_common</exec_depend>
     <exec_depend>bitbots_basler_camera</exec_depend>
     <exec_depend>bitbots_body_behavior</exec_depend>
     <exec_depend>bitbots_dynamic_kick</exec_depend>
     <exec_depend>bitbots_dynup</exec_depend>
     <exec_depend>bitbots_hcm</exec_depend>
     <exec_depend>bitbots_head_mover</exec_depend>
     <exec_depend>bitbots_localization</exec_depend>
+    <exec_depend>bitbots_odometry</exec_depend>
     <exec_depend>bitbots_quintic_walk</exec_depend>
+    <exec_depend>bitbots_robot_description</exec_depend>
     <exec_depend>bitbots_ros_control</exec_depend>
     <exec_depend>bitbots_utils</exec_depend>
     <exec_depend>bitbots_vision</exec_depend>
-    <exec_depend>robot_state_publisher</exec_depend>
-    <exec_depend condition="$IS_ROBOT != True">wolfgang_webots_sim</exec_depend>
+    <exec_depend>humanoid_base_footprint</exec_depend>
     <exec_depend>soccer_ipm</exec_depend>
-    <exec_depend>xacro</exec_depend>
+    <exec_depend>system_monitor</exec_depend>
+    <exec_depend>udp_bridge</exec_depend>
+    <exec_depend>wolfgang_description</exec_depend>
+    <exec_depend>wolfgang_moveit_config</exec_depend>
 
     <export>
         <bitbots_documentation>

bitbots_ceiling_cam/launch/ceiling_cam.launch

@@ -20,13 +20,11 @@
             <remap from="camera_info" to="/ceiling_cam/ceiling_cam_publisher/camera_info"/>
             <remap from="image_rect" to="/ceiling_cam/ceiling_cam_publisher/image_color_rect"/>
         </composable_node>
-        <!--
         <composable_node pkg="apriltag_ros" plugin="AprilTagNode" name="apriltag">
             <remap from="/apriltag/image" to="/ceiling_cam/ceiling_cam_publisher/image_color_rect"/>
             <remap from="/apriltag/camera_info" to="/ceiling_cam/ceiling_cam_publisher/camera_info"/>
             <param from="$(find-pkg-share bitbots_ceiling_cam)/config/april_tags.yaml"/>
         </composable_node>
-        -->
     </node_container>