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

…into ros-2-complete

src/rktl_game/launch/game.launch.py

@@ -3,6 +3,7 @@
 import launch_ros.actions
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from ament_index_python.packages import get_package_share_directory
+from launch.launch_description_sources import get_launch_description_from_any_launch_file
 
 
 def generate_launch_description():
@@ -14,9 +15,9 @@ def generate_launch_description():
             output='screen'
         ),
         launch.actions.IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
+            launch.launch_description_sources.AnyLaunchDescriptionSource(
                 os.path.join(get_package_share_directory(
-                    'rosbridge_server'), 'launch/rosbridge_websocket.launch.py')
+                    'rosbridge_server'), 'launch/rosbridge_websocket_launch.xml')
             )
         )
     ])

src/rktl_game/setup.py

@@ -23,7 +23,6 @@
     license='TODO: License declaration',
     tests_require=['pytest'],
     entry_points={
-        'console_scripts': [
-        ],
-    },
+        'console_scripts': [ ],
+    }
 )

src/rktl_sim/rktl_sim/vis_visualizer.py

@@ -15,6 +15,7 @@
 from nav_msgs.msg import Odometry
 import rclpy
 import sys
+from rclpy.exceptions import ROSInterruptException
 
 from rktl_dependencies.transformations import euler_from_quaternion
 
@@ -42,19 +43,18 @@ def __init__(self):
         # goal_width = rospy.get_param('/field/goal/width')
         # wall_thickness = rospy.get_param('/field/wall_thickness')
         # ball_radius = rospy.get_param("/ball/radius")
-        field_width = node.declare_parameter('/field/width').value
-        field_length = node.declare_parameter('/field/length').value
-        goal_width = node.declare_parameter('/field/goal/width').value
-        wall_thickness = node.declare_parameter('/field/wall_thickness').value
-        ball_radius = node.declare_parameter("/ball/radius").value
+        field_width = node.declare_parameter('/field/width').get_parameter_value().double_value
+        field_length = node.declare_parameter('/field/length').get_parameter_value().double_value
+        goal_width = node.declare_parameter('/field/goal/width').get_parameter_value().double_value
+        wall_thickness = node.declare_parameter('/field/wall_thickness').get_parameter_value().double_value
+        ball_radius = node.declare_parameter("/ball/radius").get_parameter_value().double_value
 
 
 
         # Creating pygame render
 
         self.window = visualizer.Window(
             field_width, field_length, wall_thickness,
-            # rospy.get_param('~window_name', 'Rocket League Visualizer'))
             node.declare_parameter('~window_name', 'Rocket League Visualizer').value)
 
         # Collecting private parameters
@@ -65,7 +65,7 @@ def __init__(self):
         # car_length = rospy.get_param("~cars/body_length")
         self.frame_id = node.declare_parameter("~frame_id", "map").value
         self.timeout = node.declare_parameter("~timeout", 10).value
-        rate = rclpy.create_node('simple_node').create_rate((node.declare_parameter("~rate", 20).value))
+        rate = rclpy.create_node('simple_node').create_rate((node.declare_parameter("~rate", 20).get_parameter_value().double_value))
         car_width = node.declare_parameter("~cars/body_width").value
         car_length = node.declare_parameter("~cars/body_length").value
 
@@ -169,11 +169,11 @@ def __init__(self):
         # rospy.Subscriber("/cars/car0/lookahead_pnt", Float32, self.lookahead_cb)
         # rospy.Subscriber("/agents/agent0/bezier_path", BezierPathList, self.bezier_path_cb)
 
-        node.create_subscription(Odometry, "/ball/odom", self.ball_odom_cb)
-        node.create_subscription(Odometry, "/cars/car0/odom", self.car_odom_cb)
-        node.create_subscription(Path, "/cars/car0/path", self.path_arr_cb)
-        node.create_subscription(Float32, "/cars/car0/lookahead_pnt", self.lookahead_cb)
-        node.create_subscription(BezierPathList, "/agents/agent0/bezier_path", self.bezier_path_cb)
+        node.create_subscription(Odometry, "/ball/odom", self.ball_odom_cb, qos_profile=1)
+        node.create_subscription(Odometry, "/cars/car0/odom", self.car_odom_cb, qos_profile=1)
+        node.create_subscription(Path, "/cars/car0/path", self.path_arr_cb, qos_profile=1)
+        node.create_subscription(Float32, "/cars/car0/lookahead_pnt", self.lookahead_cb, qos_profile=1)
+        node.create_subscription(BezierPathList, "/agents/agent0/bezier_path", self.bezier_path_cb, qos_profile=1)
 
 
         while not rclpy.ok():
@@ -183,7 +183,7 @@ def __init__(self):
                 exit()
             try:
                 rate.sleep()
-            except rclpy.ROSInterruptException:
+            except ROSInterruptException:
                 pass