Add start pose

Author: javizqh

README.md

@@ -39,6 +39,11 @@ The `Manager` class is the core of RAM, orchestrating operations and managing tr
   - `terminate`: Stops the application and goes back to `visualization_ready`.
   - `stop`: Completely stops the application.
   - `disconnect`: Disconnects from the current session and returns to `idle`.
+- **Stateless Transitions**:
+  - `style_check`: Triggers on_style_check.
+  - `code_analysis`: Triggers on_code_analysis.
+  - `code_format`: Triggers on_code_format.
+  - `code_autocomplete`: Triggers on_code_autocomplete.
 
 ### Key Methods
 
@@ -50,6 +55,10 @@ The `Manager` class is the core of RAM, orchestrating operations and managing tr
 - `on_resume(self, msg)`: Resumes the paused application.
 - `on_terminate(self, event)`: Terminates the running application.
 - `on_disconnect(self, event)`: Handles disconnection and cleanup.
+- `on_style_check(self, event)`: Check the style of the user code.
+- `on_code_analysis(self, event)`: Analyzes the style and format of the user code using pylint.
+- `on_code_format(self, event)`: Formats the user code using black.
+- `on_code_autocomplete(self, event)`: Searches for all available code completions using Jedi.
 - **Exception Handling**: Details how specific errors are managed in each method.
 
 ### Interactions with Other Components

manager/manager/launcher/launcher_robot.py

@@ -71,8 +71,11 @@ class LauncherRobot(BaseModel):
     module: str = ".".join(__name__.split(".")[:-1])
     ros_version: int = get_ros_version()
     launchers: Optional[ILauncher] = []
+    start_pose: Optional[list] = []
 
-    def run(self):
+    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)]:
             module["launch_file"] = self.launch_file_path
             launcher = self.launch_module(module)
@@ -98,7 +101,8 @@ def process_terminated(name, exit_code):
         launcher_module = f"{self.module}.launcher_{launcher_module_name}.Launcher{class_from_module(launcher_module_name)}"
         launcher_class = get_class(launcher_module)
         launcher = launcher_class.from_config(launcher_class, configuration)
-        launcher.run(process_terminated)
+
+        launcher.run(self.start_pose, process_terminated)
         return launcher
 
     def launch_command(self, configuration):

manager/manager/launcher/launcher_robot_ros2_api.py

@@ -16,7 +16,7 @@ class LauncherRobotRos2Api(ILauncher):
     launch_file: str
     threads: List[Any] = []
 
-    def run(self, callback):
+    def run(self, robot_pose, callback):
         DRI_PATH = self.get_dri_path()
         ACCELERATION_ENABLED = self.check_device(DRI_PATH)
 
@@ -27,12 +27,14 @@ def run(self, callback):
         xserver_thread.start()
         self.threads.append(xserver_thread)
 
+        ROBOT_POSE = f"ROBOT_X={robot_pose[0]} ROBOT_Y={robot_pose[1]} ROBOT_Z={robot_pose[2]} ROBOT_ROLL={robot_pose[3]} ROBOT_PITCH={robot_pose[4]} ROBOT_YAW={robot_pose[5]}"
+
         if ACCELERATION_ENABLED:
             exercise_launch_cmd = (
-                f"export VGL_DISPLAY={DRI_PATH}; vglrun ros2 launch {self.launch_file}"
+                f"export VGL_DISPLAY={DRI_PATH}; vglrun {ROBOT_POSE} ros2 launch {self.launch_file}"
             )
         else:
-            exercise_launch_cmd = f"ros2 launch {self.launch_file}"
+            exercise_launch_cmd = f"{ROBOT_POSE} ros2 launch {self.launch_file}"
 
         exercise_launch_thread = DockerThread(exercise_launch_cmd)
         exercise_launch_thread.start()

manager/manager/manager.py

@@ -286,7 +286,7 @@ def on_launch_world(self, event):
 
         self.robot_launcher = LauncherRobot(**cfg.model_dump())
         LogManager.logger.info(str(self.robot_launcher))
-        self.robot_launcher.run()
+        self.robot_launcher.run(robot_cfg['start_pose'])
         LogManager.logger.info("Launch transition finished")
 
     def prepare_custom_universe(self, cfg_dict):
@@ -760,7 +760,7 @@ def unpause_sim(self):
     def reset_sim(self):
         if self.robot_launcher:
             self.robot_launcher.terminate()
-
+            
         if self.visualization_type in ["gzsim_rae", "bt_studio_gz"]:
             if self.is_ros_service_available("/drone0/platform/state_machine/_reset"):
                 self.call_service("/drone0/platform/state_machine/_reset", "std_srvs/srv/Trigger", "{}")