remove temp yaml files generated for server and motion capture

IMRCLab · Jun 28, 2024 · 237bb3f · 237bb3f
1 parent 3fda7eb
commit 237bb3f
Showing 1 changed file with 38 additions and 43 deletions.
diff --git a/crazyflie/launch/launch.py b/crazyflie/launch/launch.py
@@ -59,13 +59,44 @@ def parse_yaml(context):
  server_yaml_content['/crazyflie_server']['ros__parameters']['poses_qos_deadline'] = motion_capture_content[
  '/motion_capture_tracking']['ros__parameters']['topics']['poses']['qos']['deadline']
 
- # Save server and mocap in temp file such that nodes can read it out later
- with open('tmp_server.yaml', 'w') as outfile:
- yaml.dump(server_yaml_content, outfile, default_flow_style=False, sort_keys=False)
+ server_parameters = server_yaml_content['/crazyflie_server']['ros__parameters']
+ motion_capture_parameters = motion_capture_content['/motion_capture_tracking']['ros__parameters']
 
- with open('tmp_motion_capture.yaml', 'w') as outfile:
- yaml.dump(motion_capture_content, outfile, default_flow_style=False, sort_keys=False)
-
+ return [
+ Node(
+ package='motion_capture_tracking',
+ executable='motion_capture_tracking_node',
+ condition=IfCondition(PythonExpression(["'", LaunchConfiguration('backend'), "' != 'sim' and '", LaunchConfiguration('mocap'), "' == 'True'"])),
+ name='motion_capture_tracking',
+ output='screen',
+ parameters= [motion_capture_parameters],
+ ),
+ Node(
+ package='crazyflie',
+ executable='crazyflie_server.py',
+ condition=LaunchConfigurationEquals('backend','cflib'),
+ name='crazyflie_server',
+ output='screen',
+ parameters= [server_parameters],
+ ),
+ Node(
+ package='crazyflie',
+ executable='crazyflie_server',
+ condition=LaunchConfigurationEquals('backend','cpp'),
+ name='crazyflie_server',
+ output='screen',
+ parameters= [server_parameters],
+ prefix=PythonExpression(['"xterm -e gdb -ex run --args" if ', LaunchConfiguration('debug'), ' else ""']),
+ ),
+ Node(
+ package='crazyflie_sim',
+ executable='crazyflie_server',
+ condition=LaunchConfigurationEquals('backend','sim'),
+ name='crazyflie_server',
+ output='screen',
+ emulate_tty=True,
+ parameters= [server_parameters],
+ )]
 
 def generate_launch_description():
  default_crazyflies_yaml_path = os.path.join(
@@ -81,23 +112,13 @@ def generate_launch_description():
  return LaunchDescription([
  DeclareLaunchArgument('crazyflies_yaml_file', 
  default_value=default_crazyflies_yaml_path),
- OpaqueFunction(function=parse_yaml),
  DeclareLaunchArgument('backend', default_value='cpp'),
  DeclareLaunchArgument('debug', default_value='False'),
  DeclareLaunchArgument('rviz', default_value='False'),
  DeclareLaunchArgument('gui', default_value='True'),
  DeclareLaunchArgument('mocap', default_value='True'),
- DeclareLaunchArgument('server_yaml_file', default_value=''),
  DeclareLaunchArgument('teleop_yaml_file', default_value=''),
- DeclareLaunchArgument('mocap_yaml_file', default_value=''),
- Node(
- package='motion_capture_tracking',
- executable='motion_capture_tracking_node',
- condition=IfCondition(PythonExpression(["'", LaunchConfiguration('backend'), "' != 'sim' and '", LaunchConfiguration('mocap'), "' == 'True'"])),
- name='motion_capture_tracking',
- output='screen',
- parameters= [PythonExpression(["'tmp_motion_capture.yaml' if '", LaunchConfiguration('mocap_yaml_file'), "' == '' else '", LaunchConfiguration('mocap_yaml_file'), "'"])],
- ),
+ OpaqueFunction(function=parse_yaml),
  Node(
  package='crazyflie',
  executable='teleop',
@@ -119,32 +140,6 @@ def generate_launch_description():
  executable='joy_node',
  name='joy_node' # by default id=0
  ),
- Node(
- package='crazyflie',
- executable='crazyflie_server.py',
- condition=LaunchConfigurationEquals('backend','cflib'),
- name='crazyflie_server',
- output='screen',
- parameters= [PythonExpression(["'tmp_server.yaml' if '", LaunchConfiguration('server_yaml_file'), "' == '' else '", LaunchConfiguration('server_yaml_file'), "'"])],
- ),
- Node(
- package='crazyflie',
- executable='crazyflie_server',
- condition=LaunchConfigurationEquals('backend','cpp'),
- name='crazyflie_server',
- output='screen',
- parameters= [PythonExpression(["'tmp_server.yaml' if '", LaunchConfiguration('server_yaml_file'), "' == '' else '", LaunchConfiguration('server_yaml_file'), "'"])],
- prefix=PythonExpression(['"xterm -e gdb -ex run --args" if ', LaunchConfiguration('debug'), ' else ""']),
- ),
- Node(
- package='crazyflie_sim',
- executable='crazyflie_server',
- condition=LaunchConfigurationEquals('backend','sim'),
- name='crazyflie_server',
- output='screen',
- emulate_tty=True,
- parameters= [PythonExpression(["'tmp_server.yaml' if '", LaunchConfiguration('server_yaml_file'), "' == '' else '", LaunchConfiguration('server_yaml_file'), "'"])],
- ),
  Node(
  condition=LaunchConfigurationEquals('rviz', 'True'),
  package='rviz2',