Adding world type for tools

Author: javizqh

manager/libs/launch_world_model.py

@@ -6,7 +6,7 @@
 
 
 class ConfigurationModel(BaseModel):
-    world: str
+    type: str
     launch_file_path: str
 
 

manager/manager/launcher/launcher_robot.py

@@ -66,7 +66,7 @@
 
 
 class LauncherRobot(BaseModel):
-    world: str
+    type: str
     launch_file_path: str
     module: str = ".".join(__name__.split(".")[:-1])
     ros_version: int = get_ros_version()
@@ -76,7 +76,7 @@ class LauncherRobot(BaseModel):
     def run(self, start_pose=None):
         if start_pose != None:
             self.start_pose = start_pose
-        for module in worlds[self.world][str(self.ros_version)]:
+        for module in worlds[self.type][str(self.ros_version)]:
             module["launch_file"] = self.launch_file_path
             launcher = self.launch_module(module)
             self.launchers.append(launcher)

manager/manager/launcher/launcher_tools.py

@@ -46,15 +46,23 @@
     },
 }
 
+simulator = {
+    "gazebo": {"tool": "gazebo"},
+    "gz": {"tool": "gzsim"},
+}
+
 
 class LauncherTools(BaseModel):
     module: str = ".".join(__name__.split(".")[:-1])
+    world_type: str
     tools: list[str]
     tools_config: Optional[dict] = None
     launchers: Optional[ILauncher] = []
 
     def run(self, consumer):
         for tool in self.tools:
+            if tool == "simulator":
+                tool = simulator[self.world_type]["tool"]
             module = tools[tool]
             launcher = self.launch_module(tool, module, consumer)
             self.launchers.append(launcher)

manager/manager/launcher/launcher_world.py

@@ -16,27 +16,11 @@
             }
         ],
     },
-    "drones": {
+    "gz": {
         "2": [
             {
                 "type": "module",
-                "module": "drones_ros2",
-                "resource_folders": [],
-                "model_folders": [],
-                "plugin_folders": [],
-                "parameters": [],
-                "launch_file": [],
-            }
-        ],
-    },
-    "gzsimdrones": {
-        "2": [
-            {
-                "type": "module",
-                "module": "drones_gzsim",
-                "resource_folders": [],
-                "model_folders": [],
-                "plugin_folders": [],
+                "module": "ros2_api",
                 "parameters": [],
                 "launch_file": [],
             }
@@ -47,14 +31,14 @@
 
 
 class LauncherWorld(BaseModel):
-    world: str
+    type: str
     launch_file_path: str
     module: str = ".".join(__name__.split(".")[:-1])
     ros_version: int = get_ros_version()
     launchers: Optional[ILauncher] = []
 
     def run(self):
-        for module in worlds[self.world][str(self.ros_version)]:
+        for module in worlds[self.type][str(self.ros_version)]:
             module["launch_file"] = self.launch_file_path
             launcher = self.launch_module(module)
             self.launchers.append(launcher)

manager/manager/manager.py

@@ -188,6 +188,7 @@ def __init__(self, host: str, port: int):
         self.queue = Queue()
         self.consumer = ManagerConsumer(host, port, self.queue)
         self.world_launcher = None
+        self.world_type = None
         self.robot_launcher = None
         self.tools_launcher = None
         self.application_process = None
@@ -270,7 +271,7 @@ def on_launch_world(self, event):
 
         # Launch world
         try:
-            if world_cfg["world"] == None:
+            if world_cfg["type"] == None:
                 self.world_launcher = None
                 LogManager.logger.info("Launch transition finished")
                 return
@@ -285,14 +286,16 @@ def on_launch_world(self, event):
         except ValueError as e:
             LogManager.logger.error(f"Configuration validation failed: {e}")
 
+        self.world_type = world_cfg["type"]
+
         self.world_launcher = LauncherWorld(**cfg.model_dump())
         LogManager.logger.info(str(self.world_launcher))
         self.world_launcher.run()
         LogManager.logger.info("Launch transition finished")
 
         # Launch robot
         try:
-            if robot_cfg["world"] == None:
+            if robot_cfg["type"] == None:
                 self.robot_launcher = None
                 LogManager.logger.info("Launch transition finished")
                 return
@@ -346,7 +349,7 @@ def on_prepare_tools(self, event):
         tools = cfg_dict["tools"]
         config = cfg_dict["config"]
 
-        self.tools_launcher = LauncherTools(tools=tools, tools_config=config)
+        self.tools_launcher = LauncherTools(world_type= self.world_type ,tools=tools, tools_config=config)
 
         self.tools_launcher.run(self.consumer)
         LogManager.logger.info("Tools transition finished")