Migrate all config files to ros2

src/image_pipeline/.github/workflows/basic-build-ci.yaml

@@ -1,3 +1,5 @@
+/**:
+  ros__parameters:
 name: Basic Build Workflow
 
 on:

src/image_pipeline/camera_calibration/rosdoc.yaml

@@ -1,3 +1,5 @@
+/**:
+  ros__parameters:
  - builder: sphinx
    name: Python API
    output_dir: python

src/rktl_autonomy/config/rocket_league.yaml

@@ -1,35 +1,37 @@
-reward:
-  # reward to be given each frame
-  # constant: 0.0
-  # # reward as a function of squared distance from the ball
-  # ball_dist_sq: -0.5
-  # # reward as a function of squared distance from the ball to the goal
-  # goal_dist_sq: -1.0
-  # reward given when car changes velocity direction
-  direction_change: 0
-  # reward given when the episode ends with the car scoring the proper goal
-  win: [100, 200, 300]
-  # reward given when the episode ends with the car scoring on the wrong goal
-  loss: [100, 100, 100]
-  # reward given each frame when the car is in reverse
-  # reverse: -25
-  # # reward given each frame when the car is near the walls
-  # walls:
-  #   # actual reward value
-  #   value: -50
-  #   # threshold distance (meters)
-  #   threshold: 0.25
+/**:
+  ros__parameters:
+    reward:
+      # reward to be given each frame
+      # constant: 0.0
+      # # reward as a function of squared distance from the ball
+      # ball_dist_sq: -0.5
+      # # reward as a function of squared distance from the ball to the goal
+      # goal_dist_sq: -1.0
+      # reward given when car changes velocity direction
+      direction_change: 0
+      # reward given when the episode ends with the car scoring the proper goal
+      win: [100, 200, 300]
+      # reward given when the episode ends with the car scoring on the wrong goal
+      loss: [100, 100, 100]
+      # reward given each frame when the car is in reverse
+      # reverse: -25
+      # # reward given each frame when the car is near the walls
+      # walls:
+      #   # actual reward value
+      #   value: -50
+      #   # threshold distance (meters)
+      #   threshold: 0.25
 
-# duration when the episode will be terminated. Unit is seconds (sim time)
-max_episode_time: 15
+    # duration when the episode will be terminated. Unit is seconds (sim time)
+    max_episode_time: 15
 
-log:
-  base_dir: "~/catkin_ws/data/rocket_league/"
-  # frequency to save progress plot. Unit is episodes
-  plot_freq: 50
-  # variables to display in progress plot
-  basic:
-    - "duration"
-    - "goals"
-  advanced:
-    - "net_reward"
+    log:
+      base_dir: "~/catkin_ws/data/rocket_league/"
+      # frequency to save progress plot. Unit is episodes
+      plot_freq: 50
+      # variables to display in progress plot
+      basic:
+        - "duration"
+        - "goals"
+      advanced:
+        - "net_reward"

src/rktl_control/config/controller.yaml

@@ -1,33 +1,35 @@
-# controller type: 'lead_lag', 'pid', or 'none'
-controller_type: 'none'
-# parameters for all controllers
-limits:
-  throttle:
-    min: -1.5
-    max:  1.5
-# parameters for none (open loop)
-open_loop:
-  publish_early: true
-# parameters for lead_lag (stable with 0.2 sec delay)
-# lead:
-#   gain:   2.2696
-#   alpha: -0.6146
-#   beta:  -0.7130
-# lag:
-#   alpha: -0.9608
-#   beta:  -0.9951
-# alternate lead_lag (with predictive control)
-lead:
-  gain:   3.9229
-  alpha: -0.2584
-  beta:  -0.9231
-lag:
-  alpha: -0.573
-  beta:  -0.9786
-# parameters for pid
-pid:
-  kp: 1.0
-  ki: 0.0
-  kd: 0.0
-  anti_windup: 0.0
-  deadband: 0.0
+/**:
+  ros__parameters:
+    # controller type: 'lead_lag', 'pid', or 'none'
+    controller_type: 'none'
+    # parameters for all controllers
+    limits:
+      throttle:
+        min: -1.5
+        max:  1.5
+    # parameters for none (open loop)
+    open_loop:
+      publish_early: true
+    # parameters for lead_lag (stable with 0.2 sec delay)
+    # lead:
+    #   gain:   2.2696
+    #   alpha: -0.6146
+    #   beta:  -0.7130
+    # lag:
+    #   alpha: -0.9608
+    #   beta:  -0.9951
+    # alternate lead_lag (with predictive control)
+    lead:
+      gain:   3.9229
+      alpha: -0.2584
+      beta:  -0.9231
+    lag:
+      alpha: -0.573
+      beta:  -0.9786
+    # parameters for pid
+    pid:
+      kp: 1.0
+      ki: 0.0
+      kd: 0.0
+      anti_windup: 0.0
+      deadband: 0.0

src/rktl_control/config/hardware_interface.yaml

@@ -1,34 +1,36 @@
-# hardware configuration
-port: /dev/ttyACM0
+/**:
+  ros__parameters:
+    # hardware configuration
+    port: /dev/ttyACM0
 
-# servo adjustments (uS)
-car0:
-  throttle_throw:   90
-  steering_left:    950
-  steering_center:  1450
-  steering_right:   1850
-car1:
-  throttle_throw:   90
-  steering_left:    950
-  steering_center:  1450
-  steering_right:   1850
-car2:
-  throttle_throw:   90
-  steering_left:    950
-  steering_center:  1450
-  steering_right:   1850
-car3:
-  throttle_throw:   90
-  steering_left:    950
-  steering_center:  1450
-  steering_right:   1850
-car4:
-  throttle_throw:   90
-  steering_left:    950
-  steering_center:  1450
-  steering_right:   1850
-car5:
-  throttle_throw:   90
-  steering_left:    950
-  steering_center:  1450
-  steering_right:   1850
+    # servo adjustments (uS)
+    car0:
+      throttle_throw:   90
+      steering_left:    950
+      steering_center:  1450
+      steering_right:   1850
+    car1:
+      throttle_throw:   90
+      steering_left:    950
+      steering_center:  1450
+      steering_right:   1850
+    car2:
+      throttle_throw:   90
+      steering_left:    950
+      steering_center:  1450
+      steering_right:   1850
+    car3:
+      throttle_throw:   90
+      steering_left:    950
+      steering_center:  1450
+      steering_right:   1850
+    car4:
+      throttle_throw:   90
+      steering_left:    950
+      steering_center:  1450
+      steering_right:   1850
+    car5:
+      throttle_throw:   90
+      steering_left:    950
+      steering_center:  1450
+      steering_right:   1850

src/rktl_control/config/mean_odom_filter.yaml

@@ -1,6 +1,8 @@
-delay:
-  compensate: false
-  duration: 0.15
-buffer_size:
-  position: 3
-  velocity: 3
+/**:
+  ros__parameters:
+    delay:
+      compensate: false
+      duration: 0.15
+    buffer_size:
+      position: 3
+      velocity: 3

src/rktl_control/config/particle_odom_filter.yaml

@@ -1,30 +1,32 @@
-rate: 10.0
-supersampling: 2
-publish_particles: true
-num_particles: 100
-resample_proportion: 0.05
-boundary_check: true
-delay:
-  compensate: true
-  duration: 0.1
-allowable_latency: 1.25
-open_loop_limit: 10
-measurement_error:
-  location: 0.1
-  orientation: 0.2
-generator_noise:
-  location: 0.5
-  orientation: 0.75
-  velocity: 0.1
-  steering_angle: 0.05
-efforts:
-  enable: true
-  buffer_size: 15
-  throttle:
-    noise: 0.2
-    max:  1.0
-    min: -1.0
-  steering:
-    noise: 0.2
-    max:  1.0
-    min: -1.0
+/**:
+  ros__parameters:
+    rate: 10.0
+    supersampling: 2
+    publish_particles: true
+    num_particles: 100
+    resample_proportion: 0.05
+    boundary_check: true
+    delay:
+      compensate: true
+      duration: 0.1
+    allowable_latency: 1.25
+    open_loop_limit: 10
+    measurement_error:
+      location: 0.1
+      orientation: 0.2
+    generator_noise:
+      location: 0.5
+      orientation: 0.75
+      velocity: 0.1
+      steering_angle: 0.05
+    efforts:
+      enable: true
+      buffer_size: 15
+      throttle:
+        noise: 0.2
+        max:  1.0
+        min: -1.0
+      steering:
+        noise: 0.2
+        max:  1.0
+        min: -1.0

src/rktl_control/config/pose_synchronizer.yaml

@@ -1,23 +1,25 @@
-# rate of the whole perception system (Hz)
-rate: 10.0
+/**:
+  ros__parameters:
+    # rate of the whole perception system (Hz)
+    rate: 10.0
 
-# delay in seconds. Lower is better, but AprilTags needs to keep up
-delay: 0.1
+    # delay in seconds. Lower is better, but AprilTags needs to keep up
+    delay: 0.1
 
-# should debug info on latency be published?
-publish_latency: true
+    # should debug info on latency be published?
+    publish_latency: true
 
-# buffer size for each topic.
-# 12 potential detections per update (4 x 30 hz cameras)
-# delay of ~ 2 updates
-buffer_size: 30
+    # buffer size for each topic.
+    # 12 potential detections per update (4 x 30 hz cameras)
+    # delay of ~ 2 updates
+    buffer_size: 30
 
-# topics to be synchronized
-topics:
-  - cars/car0/pose
-  - ball/pose
+    # topics to be synchronized
+    topics:
+      - cars/car0/pose
+      - ball/pose
 
-# if Z in the message corresponds to a confidence weight
-use_weights:
-  - false
-  - true
+    # if Z in the message corresponds to a confidence weight
+    use_weights:
+      - false
+      - true

src/rktl_perception/config/apriltag_settings.yaml

@@ -1,10 +1,12 @@
-tag_family:        'tag25h9'
-tag_border:        1 
-tag_threads:       4
-tag_decimate:      1.0
-tag_blur:          0.0
-tag_refine_edges:  1
-tag_refine_decode: 0
-tag_refine_pose:   0
-tag_debug:         0
-publish_tf:        false
+/**:
+  ros__parameters:
+    tag_family:        'tag25h9'
+    tag_border:        1 
+    tag_threads:       4
+    tag_decimate:      1.0
+    tag_blur:          0.0
+    tag_refine_edges:  1
+    tag_refine_decode: 0
+    tag_refine_pose:   0
+    tag_debug:         0
+    publish_tf:        false