Merge pull request #3132 from JdeRobot/neutral-steps-ram

Change visualization and config to tools

Author: javizqh

RoboticsInfrastructure

@@ -22,10 +22,6 @@ class MeasuringThreadingGUI:
 
     def __init__(self, host="ws://127.0.0.1:2303", freq=30.0):
 
-        # ROS 2 init
-        if not rclpy.ok():
-            rclpy.init()
-
         # Execution control vars
         self.out_period = 1.0 / freq
 
@@ -49,7 +45,6 @@ def __init__(self, host="ws://127.0.0.1:2303", freq=30.0):
         self.running = True
 
         self.host = host
-        self.node = rclpy.create_node("node")
 
     def start(self):
         # Initialize and start the WebSocket client thread

common/gui_interfaces/gui_interfaces/general/measuring_threading_gui.py

@@ -25,10 +25,6 @@ class MeasuringThreadingGUI:
 
     def __init__(self, host="ws://127.0.0.1:2303", freq=30.0, world_name="default"):
 
-        # ROS 2 init
-        if not rclpy.ok():
-            rclpy.init()
-
         # Execution control vars
         self.out_period = 1.0 / freq
 
@@ -52,7 +48,6 @@ def __init__(self, host="ws://127.0.0.1:2303", freq=30.0, world_name="default"):
         self.running = True
 
         self.host = host
-        self.node = rclpy.create_node("node")
 
         self.world_name = world_name
 

common/gui_interfaces/gui_interfaces/general/measuring_threading_gui_harmonic.py

@@ -22,10 +22,6 @@ class MeasuringThreadingGUI:
 
     def __init__(self, host="ws://127.0.0.1:2303", freq=30.0):
 
-        # ROS 2 init
-        if not rclpy.ok():
-            rclpy.init()
-
         # Execution control vars
         self.out_period = 1.0 / freq
 
@@ -49,7 +45,6 @@ def __init__(self, host="ws://127.0.0.1:2303", freq=30.0):
         self.running = True
 
         self.host = host
-        self.node = rclpy.create_node("node")
 
     def start(self):
         # Initialize and start the WebSocket client thread

common/gui_interfaces/gui_interfaces/general/measuring_threading_gui_no_sim.py

@@ -1,5 +1,9 @@
 from rclpy.node import Node
 from gazebo_msgs.msg import ContactsState
+import rclpy
+
+if not rclpy.ok():
+    rclpy.init()
 
 ### AUXILIARY FUNCTIONS ###
 

common/hal_interfaces/hal_interfaces/general/bumper.py

@@ -4,6 +4,10 @@
 import numpy as np
 import cv_bridge
 import cv2
+import rclpy
+
+if not rclpy.ok():
+    rclpy.init()
 
 ### AUXILIARY FUNCTIONS ###
 

common/hal_interfaces/hal_interfaces/general/camera.py

@@ -1,6 +1,10 @@
 from rclpy.node import Node
 import sensor_msgs.msg
 from math import pi as PI
+import rclpy
+
+if not rclpy.ok():
+    rclpy.init()
 
 
 ### AUXILIARY FUNCTIONS

common/hal_interfaces/hal_interfaces/general/laser.py

@@ -1,5 +1,9 @@
 from geometry_msgs.msg import Twist
 from rclpy.node import Node
+import rclpy
+
+if not rclpy.ok():
+    rclpy.init()
 
 
 ### HAL INTERFACE ###

common/hal_interfaces/hal_interfaces/general/motors.py

@@ -2,6 +2,10 @@
 from rclpy.node import Node
 from math import asin, atan2, pi
 import nav_msgs.msg
+import rclpy
+
+if not rclpy.ok():
+    rclpy.init()
 
 
 ### AUXILIARY FUNCTIONS ###

common/hal_interfaces/hal_interfaces/general/noise_odometry.py

@@ -1,6 +1,10 @@
 from rclpy.node import Node
 from math import asin, atan2, pi
 import nav_msgs.msg
+import rclpy
+
+if not rclpy.ok():
+    rclpy.init()
 
 
 ### AUXILIARY FUNCTIONS ###