launcher for ros2 teleoperable model

Signed-off-by: Blanca <blancasoriaru@gmail.com>

Author: Blancasr

manager/libs/applications/compatibility/exercise_wrapper_ros2_teleop.py

@@ -62,10 +62,9 @@ def __init__(self, exercise_command, gui_command, teleop_command, update_callbac
             self.teleop_connection.start()
         else:
             self.teleop_server.kill()
-            raise RuntimeError(f"Exercise GUI {teleop_command} could not be run")
+            raise RuntimeError(f"Exercise Teleop {teleop_command} could not be run")
 
         self.running = True
-
         self.start_send_freq_thread()
 
 

manager/manager/launcher/launcher_teleoperator_ros2.py

@@ -0,0 +1,45 @@
+from src.manager.manager.launcher.launcher_interface import ILauncher
+from src.manager.manager.docker_thread.docker_thread import DockerThread
+import time
+import os
+import stat
+
+
+class LauncherTeleoperatorRos2(ILauncher):
+    model_plugin_port: str
+    running = False
+    threads = []
+
+    def run(self, callback):
+        DRI_PATH = os.path.join("/dev/dri", os.environ.get("DRI_NAME", "card0"))
+        ACCELERATION_ENABLED = self.check_device(DRI_PATH)
+        
+        if (ACCELERATION_ENABLED):
+            teleop_cmd = f"export VGL_DISPLAY={DRI_PATH}; vglrun /opt/jderobot/utils/model_teleoperator.py 0.0.0.0 {model_plugin_port}"
+        else:
+            teleop_cmd = f"/opt/jderobot/utils/model_teleoperator.py 0.0.0.0 {model_plugin_port}"
+
+        print("\n\n LAUNCHING TELEOPERATOR\n\n")
+        teleop_thread = DockerThread(teleop_cmd)
+        teleop_thread.start()
+        self.threads.append(teleop_thread)
+
+        self.running = True
+    
+    def check_device(self, device_path):
+        try:
+            return stat.S_ISCHR(os.lstat(device_path)[stat.ST_MODE])
+        except:
+            return False
+
+    def is_running(self):
+        return self.running
+
+    def terminate(self):
+        for thread in self.threads:
+            thread.terminate()
+            thread.join()
+        self.running = False
+
+    def died(self):
+        pass