Improve robot definiton parameters

rnanosaur · Jan 20, 2025 · 8bfc251 · 8bfc251
1 parent 79ec867
commit 8bfc251
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Showing 3 changed files with 23 additions and 8 deletions.
diff --git a/src/nanosaur/main.py b/src/nanosaur/main.py
@@ -81,7 +81,8 @@ def info(platform, params: Params, args):
         if ws_path := workspace.get_workspace_path(
             params, params.get(ws_name)
         ):
-            print(f"  {TerminalFormatter.color_text(ws_name, bold=True)}: {ws_path}")
+            ws_name_split = ws_name.split('_')[1]  # Split and get the middle part
+            print(f"  {TerminalFormatter.color_text(ws_name_split, bold=True)}: {ws_path}")
 
     # Print all robot configurations
     if args.verbose:

diff --git a/src/nanosaur/simulation.py b/src/nanosaur/simulation.py
@@ -52,11 +52,15 @@ def start_robot_simulation(params):
     command = simulation_tools[params['simulation_tool']]['robot']
     # Load the robot configuration
     robot = RobotList.get_robot(params)
-    print(TerminalFormatter.color_text(f"Starting {robot.name} ID={robot.domain_id}", color='green'))
+    print(TerminalFormatter.color_text(f"Starting {robot}", color='green'))
+
+    # Print the command to be run
+    print(f"ROS_DOMAIN_ID={robot.domain_id} {command} {robot.config_to_ros()}")    
+
     try:
         # Combine sourcing the bash file with running the command
         process = subprocess.Popen(
-            f"source {bash_file} && ROS_DOMAIN_ID={robot.domain_id} {command} namespace:={robot.name}",
+            f"source {bash_file} && ROS_DOMAIN_ID={robot.domain_id} {command} {robot.config_to_ros()}",
             shell=True,
             executable="/bin/bash",
             stdout=subprocess.PIPE,

diff --git a/src/nanosaur/utilities.py b/src/nanosaur/utilities.py
@@ -33,13 +33,13 @@
 DEFAULT_ROBOT_CONFIG = {
     'name': 'nanosaur',
     'domain_id': 0,
-    'camera': '',
-    'lidar': '',
+    'camera_type': '',
+    'lidar_type': '',
     'engines': [],
 }
 
 CAMERA_CHOICES = ['', 'realsense', 'zed']
-LIDAR_CHOICES = ['', 'rplidar']
+LIDAR_CHOICES = ['', 'LD06', 'rplidar']
 ENGINES_CHOICES = ['vlslam', 'nvblox', 'apriltag']
 
 
@@ -59,13 +59,23 @@ def __init__(self, robot_config=None, name=None):
             setattr(self, key, value)
 
     def __repr__(self):
-        # "Nanosaur[DID=](cover=AAA, )"
         attributes = ', '.join(f"{key}={value}" for key, value in self.__dict__.items() if key not in ['name', 'domain_id'] and value)
-        return f"{self.name}[DID={self.domain_id}] {attributes}"
+        return f"{self.name}[DID={self.domain_id}]({attributes})"
 
     def to_dict(self) -> dict:
         return self.__dict__
 
+    def config_to_ros(self) -> str:
+        ros_params = []
+        for key, value in self.__dict__.items():
+            if key == 'domain_id' or not value:
+                continue
+            param_name = 'robot_name' if key == 'name' else key
+            if isinstance(value, list):
+                value = f'"[{", ".join(value)}]"'
+            ros_params.append(f"{param_name}:={value}")
+        return ' '.join(ros_params)
+
     def verbose(self):
         """Print the robot configuration."""
         print(TerminalFormatter.color_text("Robot:", bold=True))