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Adapt rosgraph_manipulator to reconfigure using launch files generated by RosModel #35

Closed chcorbato closed 4 years ago

chcorbato commented 4 years ago

This is what we discussed today. Currently the reconfiguration uses a single launch file and a launch argument to select amongst predefined param configs for move base. See: https://github.com/rosin-project/metacontrol_sim/blob/ae7ff41e65bfa2fcf1fa101e5ee3e99f92c597bb/scripts/rosgraph_manipulator.py#L136

What we need is to launch the launch files autogenerated from the .rossystem files of each configuration.

These files have the name and they are in a package both with the name of the configuration, which can be retrieved from the goal field desired_configuration_name see: metacontrol_msgs/action/MvpReconfiguration.action

These lines also need to be changed: https://github.com/rosin-project/metacontrol_sim/blob/ae7ff41e65bfa2fcf1fa101e5ee3e99f92c597bb/scripts/rosgraph_manipulator.py#L100-L117

ipa-nhg commented 4 years ago

Solved by https://github.com/rosin-project/metacontrol_sim/pull/36

chcorbato commented 4 years ago

We need to complete #36 according to @marioney's comment but I close this issue