Propagate robot name from launch files into mocha_core

Author: fcladera

mocha_core/launch/database_translators_publishers.launch.py

@@ -23,7 +23,7 @@ def generate_launch_description():
         'robot_configs',
         default_value=PathJoinSubstitution([
             FindPackageShare('mocha_core'),
-            'config', 'testConfigs', 'robot_configs.yaml'
+            'config', 'robot_configs.yaml'
         ]),
         description='Path to robot configuration file'
     )
@@ -32,7 +32,7 @@ def generate_launch_description():
         'topic_configs', 
         default_value=PathJoinSubstitution([
             FindPackageShare('mocha_core'),
-            'config', 'testConfigs', 'topic_configs.yaml'
+            'config', 'topic_configs.yaml'
         ]),
         description='Path to topic configuration file'
     )

mocha_core/mocha_core/database_server.py

@@ -17,10 +17,11 @@ class DatabaseServer:
 
     Please see the list of services in the srv folder
     """
-    def __init__(self, robot_configs, topic_configs, node=None):
+    def __init__(self, robot_configs, topic_configs, robot_name, node=None):
         # Check input topics
         assert isinstance(robot_configs, dict)
         assert isinstance(topic_configs, dict)
+        assert isinstance(robot_name, str)
 
         self.robot_configs = robot_configs
         self.topic_configs = topic_configs
@@ -32,9 +33,8 @@ def __init__(self, robot_configs, topic_configs, node=None):
         else:
             self.logger = self.node.get_logger()
 
-        # Get current robot name from params (passed as parameter since ROS2 doesn't use global params)
-        # For now, we'll default to 'charon' - this should be passed as a parameter
-        self.robot_name = 'charon'  # TODO: Make this configurable
+        # Get robot name from parameter
+        self.robot_name = robot_name
 
         if self.robot_name not in self.robot_configs.keys():
             self.logger.error(f"{self.robot_name} does not exist in robot_configs")

mocha_core/mocha_core/integrate_database.py

@@ -94,7 +94,7 @@ def __init__(self, node=None):
 
         # Create a database server object with ROS2 node
         self.DBServer = ds.DatabaseServer(self.robot_configs,
-                                          self.topic_configs, node=self.node)
+                                          self.topic_configs, self.this_robot, node=self.node)
 
         self.num_robot_in_comm = 0
 

mocha_core/test/test_database_server.py

@@ -38,7 +38,7 @@ def setUp(self):
         self.node = rclpy.create_node('test_database_server_node')
 
         # Create a database server object with the node (this will create the services)
-        self.dbs = ds.DatabaseServer(robot_configs, topic_configs, node=self.node)
+        self.dbs = ds.DatabaseServer(robot_configs, topic_configs, "charon", node=self.node)
 
         super().setUp()
 

mocha_core/test/test_translator.py

@@ -36,7 +36,7 @@ def setUp(self):
 
         # Create database server to handle service requests
         self.db_node = rclpy.create_node('test_database_server_node')
-        self.dbs = ds.DatabaseServer(robot_configs, topic_configs, node=self.db_node)
+        self.dbs = ds.DatabaseServer(robot_configs, topic_configs, "charon", node=self.db_node)
 
         super().setUp()