omfg

Author: 2lian

pixi.lock

@@ -34,7 +34,10 @@ sdl2_mixer = "*"
 sdl2_gfx = "*"
 asyncio_for_robotics = "*"
 
-# [pypi-dependencies]
+
+[pypi-dependencies]
+ujson5 = ">=1.0.1, <2"
+dacite = ">=1.9.2, <2"
 # pysdl2 = "*"
 # pysdl2-dll = "*"
 

pixi.toml

@@ -0,0 +1 @@
+./pixi-humble.toml

src/keyboard_event/pixi.toml

@@ -0,0 +1,68 @@
+import subprocess
+from subprocess import Popen
+from typing import Any, Dict
+
+from launch_ros.actions import Node
+
+import motion_stack.ros2.communication as comms
+from launch.launch_description import LaunchDescription
+from motion_stack.api.launch.builder import LevelBuilder, xacro_path_from_pkg
+from motion_stack.core.lvl1_rework import Lvl1Param
+
+urdf_path = xacro_path_from_pkg(
+    package_name="motion_stack_tuto", xacro_path="urdf/moonbot_zero.xacro"
+)
+xacro_proc = Popen(f"xacro {urdf_path}", shell=True, stdout=subprocess.PIPE)
+xacro_proc.wait()
+urdf = xacro_proc.stdout.read().decode()
+
+params_lvl1 = [
+    Lvl1Param(urdf=urdf, namespace=f"leg{k}", end_effector_name=k % 4)
+    for k in range(4)
+]
+
+MINI_SIM_REMAP = [
+    ("joint_states", "/joint_states"),
+    ("joint_commands", "/joint_commands"),
+]
+
+
+def generate_launch_description():
+    return LaunchDescription(
+        [
+            Node(
+                executable="lvl1",
+                name=f"lvl1_{p.namespace}",
+                package="motion_stack",
+                namespace=p.namespace,
+                arguments=["--ros-args", "--log-level", "warn"],
+                output="screen",
+                emulate_tty=True,
+                parameters=[{"ms_params": p.to_json()}],
+                remappings=[] + MINI_SIM_REMAP,
+            )
+            for p in params_lvl1
+        ]
+        + [
+            Node(
+                package="robot_state_publisher",
+                executable="robot_state_publisher",
+                name=f"rsp_{p.namespace}",
+                namespace=p.namespace,
+                arguments=["--ros-args", "--log-level", "warn"],
+                output="screen",
+                emulate_tty=True,
+                parameters=[
+                    {
+                        "robot_description": p.urdf,
+                    }
+                ],
+                remappings=[
+                    # (intside node, outside node),
+                    ("joint_states", comms.lvl1.output.continuous_joint_state.name),
+                    # ("joint_states", "/joint_states"),
+                ],
+            )
+            for p in params_lvl1
+        ]
+    )