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feat(config): Switch work order files from JSON to YAML #117

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0c51ed8
feat(config): Switch work order files from JSON to YAML
Ishan1923 Aug 16, 2025
f5dcad0
feat(config): Switch work order files to YAML
Ishan1923 Aug 27, 2025
16284d0
style: remove stale comment and whitespace in YAML files.
Ishan1923 Aug 29, 2025
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4 changes: 2 additions & 2 deletions nexus_demos/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -54,12 +54,12 @@ ros2 launch nexus_demos workcell.launch.py workcell_id:=workcell_2 ros_domain_id

`place_on_conveyor` work order:
```bash
ros2 action send_goal /system_orchestrator/execute_order nexus_orchestrator_msgs/action/ExecuteWorkOrder "{order: {work_order_id: '23', work_order: '$(cat config/place_on_conveyor.json)'}}"
ros2 action send_goal /system_orchestrator/execute_order nexus_orchestrator_msgs/action/ExecuteWorkOrder "{order: {work_order_id: '23', work_order: '$(cat config/place_on_conveyor.yaml)'}}"
```

`pick_from_conveyor` work order:
```bash
ros2 action send_goal /system_orchestrator/execute_order nexus_orchestrator_msgs/action/ExecuteWorkOrder "{order: {work_order_id: '24', work_order: '$(cat config/pick_from_conveyor.json)'}}"
ros2 action send_goal /system_orchestrator/execute_order nexus_orchestrator_msgs/action/ExecuteWorkOrder "{order: {work_order_id: '24', work_order: '$(cat config/pick_from_conveyor.yaml)'}}"
```

## Debugging
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29 changes: 0 additions & 29 deletions nexus_demos/config/pick_and_place.json
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14 changes: 14 additions & 0 deletions nexus_demos/config/pick_and_place.yaml
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@@ -0,0 +1,14 @@
workInstructionName: "Pick and Place"
steps:
- processId: "place_on_conveyor"
outputItems:
- guid: "productA"
metadata:
quantity: 1
state: "state_1"
- processId: "pick_from_conveyor"
inputItems:
- guid: "productA"
metadata:
quantity: 1
state: "state_1"
17 changes: 0 additions & 17 deletions nexus_demos/config/pick_from_conveyor.json
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8 changes: 8 additions & 0 deletions nexus_demos/config/pick_from_conveyor.yaml
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@@ -0,0 +1,8 @@
workInstructionName: "Pick from conveyor"
steps:
- processId: "pick_from_conveyor"
inputItems:
- guid: "productA"
metadata:
quantity: 1
state: "state_1"
17 changes: 0 additions & 17 deletions nexus_demos/config/place_on_conveyor.json
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8 changes: 8 additions & 0 deletions nexus_demos/config/place_on_conveyor.yaml
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@@ -0,0 +1,8 @@
workInstructionName: "Place on conveyor"
steps:
- processId: "place_on_conveyor"
outputItems:
- guid: "productA"
metadata:
quantity: 1
state: "state_1"
1 change: 1 addition & 0 deletions nexus_demos/package.xml
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Expand Up @@ -66,6 +66,7 @@
<test_depend>ament_cmake_catch2</test_depend>
<test_depend>ament_index_cpp</test_depend>
<test_depend>rcpputils</test_depend>
<exec_depend>python3-yaml</exec_depend>

<export>
<build_type>ament_cmake</build_type>
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2 changes: 1 addition & 1 deletion nexus_demos/test_invalid_place_on_conveyor.py
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Expand Up @@ -68,7 +68,7 @@ async def test_abort_invalid_place_on_conveyor_wo(self):
self.action_client.wait_for_server()
goal_msg = ExecuteWorkOrder.Goal()
goal_msg.order.work_order_id = "1"
with open(f"{os.path.dirname(__file__)}/config/place_on_conveyor.json") as f:
with open(f"{os.path.dirname(__file__)}/config/place_on_conveyor.yaml") as f:
goal_msg.order.work_order = f.read()
feedbacks: list[ExecuteWorkOrder.Feedback] = []
fb_fut = Future()
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4 changes: 2 additions & 2 deletions nexus_demos/test_parallel_duplicated_wo.py
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Expand Up @@ -66,7 +66,7 @@ async def test_reject_jobs_over_max(self):
"""
goal_msg = ExecuteWorkOrder.Goal()
goal_msg.order.work_order_id = "1"
with open(f"{os.path.dirname(__file__)}/config/pick_and_place.json") as f:
with open(f"{os.path.dirname(__file__)}/config/pick_and_place.yaml") as f:
goal_msg.order.work_order = f.read()
goal_handle = cast(
ClientGoalHandle, await self.action_client.send_goal_async(goal_msg)
Expand All @@ -75,7 +75,7 @@ async def test_reject_jobs_over_max(self):

goal_msg_2 = ExecuteWorkOrder.Goal()
goal_msg_2.order.work_order_id = "2"
with open(f"{os.path.dirname(__file__)}/config/pick_and_place.json") as f:
with open(f"{os.path.dirname(__file__)}/config/pick_and_place.yaml") as f:
goal_msg_2.order.work_order = f.read()
goal_handle_2 = cast(
ClientGoalHandle, await self.action_client.send_goal_async(goal_msg_2)
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2 changes: 1 addition & 1 deletion nexus_demos/test_parallel_pick_and_place_rmf.py.disabled
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Expand Up @@ -78,7 +78,7 @@ class ParallelPickAndPlaceRmfTest(NexusTestCase):
self.action_client.wait_for_server()

goal_msg = ExecuteWorkOrder.Goal()
with open(f"{os.path.dirname(__file__)}/config/pick_and_place.json") as f:
with open(f"{os.path.dirname(__file__)}/config/pick_and_place.yaml") as f:
goal_msg.order.work_order = f.read()

# First goal
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4 changes: 2 additions & 2 deletions nexus_demos/test_parallel_wo.py
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Expand Up @@ -66,7 +66,7 @@ async def test_reject_jobs_over_max(self):
"""
goal_msg = ExecuteWorkOrder.Goal()
goal_msg.order.work_order_id = "1"
with open(f"{os.path.dirname(__file__)}/config/place_on_conveyor.json") as f:
with open(f"{os.path.dirname(__file__)}/config/place_on_conveyor.yaml") as f:
goal_msg.order.work_order = f.read()
goal_handle = cast(
ClientGoalHandle, await self.action_client.send_goal_async(goal_msg)
Expand All @@ -75,7 +75,7 @@ async def test_reject_jobs_over_max(self):

goal_msg_2 = ExecuteWorkOrder.Goal()
goal_msg_2.order.work_order_id = "2"
with open(f"{os.path.dirname(__file__)}/config/pick_from_conveyor.json") as f:
with open(f"{os.path.dirname(__file__)}/config/pick_from_conveyor.yaml") as f:
goal_msg_2.order.work_order = f.read()
goal_handle_2 = cast(
ClientGoalHandle, await self.action_client.send_goal_async(goal_msg_2)
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2 changes: 1 addition & 1 deletion nexus_demos/test_pick_and_place.py
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Expand Up @@ -68,7 +68,7 @@ async def test_pick_and_place_wo(self):
self.action_client.wait_for_server()
goal_msg = ExecuteWorkOrder.Goal()
goal_msg.order.work_order_id = "1"
with open(f"{os.path.dirname(__file__)}/config/place_on_conveyor.json") as f:
with open(f"{os.path.dirname(__file__)}/config/place_on_conveyor.yaml") as f:
goal_msg.order.work_order = f.read()
feedbacks: list[ExecuteWorkOrder.Feedback] = []
fb_fut = Future()
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2 changes: 1 addition & 1 deletion nexus_demos/test_pick_and_place_rmf.py
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Expand Up @@ -75,7 +75,7 @@ async def test_pick_and_place_wo_with_rmf(self):
self.action_client.wait_for_server()
goal_msg = ExecuteWorkOrder.Goal()
goal_msg.order.work_order_id = "1"
with open(f"{os.path.dirname(__file__)}/config/pick_and_place.json") as f:
with open(f"{os.path.dirname(__file__)}/config/pick_and_place.yaml") as f:
goal_msg.order.work_order = f.read()
feedbacks: list[ExecuteWorkOrder.Feedback] = []
fb_fut = Future()
Expand Down