search

tue-robotics / ed

Environment Descriptor
BSD 2-Clause "Simplified" License
56 stars 15 forks source link

Convert configure to cpp #138

Closed MatthijsBurgh closed 2 years ago

MatthijsBurgh commented 2 years ago

In the old implementation the filepath of the config was send. This was needed as in python we can't resolve all our custom tue_config stuff. But this can cause issues, when ed is running on another machine than the configure node. By converting the configure node to cpp, the file is parsed locallaly include our custom stuff. As we can send the yaml string again.

Merge after https://github.com/tue-robotics/tue_config/pull/31

MatthijsBurgh commented 2 years ago

In the old case the filepath of the main config could be not matching. In the new situation, filepaths in the config could be an issue. This now happens with the robocup plugin, which has paths to the model images defined in the config. These are defined to a rospkg call. These are now resolved on the machine of the configure node, but should be resolved on the machine of ED.

A solution of this would be to add an option to enable/disable resolving of rospkg paths in tue_config.

This is fixed by https://github.com/tue-robotics/tue_config/pull/31