Update models to the new ros-model version, see:ipa320/RosTooling#125

ipa-nhg · ipa-nhg · commit f13cd0d8a225 · 2021-03-08T15:14:56.000+01:00
diff --git a/metacontrol_models_experiment/models_backup/MoveBaseComponentC.rossystem b/metacontrol_models_experiment/models_backup/MoveBaseComponentC.rossystem
@@ -1,7 +1,7 @@
 RosSystem { Name 'MoveBaseComponentC' 
 	RosComponents ( ComponentInterface { name move_base})
 	Parameters {
-		Parameter { name move_base_config type Struc 
+		Parameter { name move_base_config type Struct 
 			{controller_frequency Integer {default 20},
 			planner_frequency Double {default 7.5},
 			acc_lim_x Double {default 5.0},
diff --git a/metacontrol_models_experiment/rosnodes/amcl.ros b/metacontrol_models_experiment/rosnodes/amcl.ros
@@ -1,8 +1,8 @@
-PackageSet { package {
-	CatkinPackage amcl { artifact {
+PackageSet {
+	CatkinPackage amcl {
 		Artifact  amcl {
-			node Node { name acml 
-			parameter { 
+			Node { name acml 
+			Parameters { 
 				Parameter { name use_map_topic type Boolean},
 				Parameter { name odom_model_type type String},
 				Parameter { name odom_alpha5 type Double},
@@ -40,4 +40,4 @@ PackageSet { package {
 				Parameter { name initial_pose_a type Double},
 				Parameter { name receive_map_topic type Boolean},
 				Parameter { name first_map_only type Boolean}
-		}}}}}}}
+		}}}}}
diff --git a/metacontrol_models_experiment/rosnodes/base_sim.ros b/metacontrol_models_experiment/rosnodes/base_sim.ros
@@ -1,8 +1,8 @@
-PackageSet { package {
-	CatkinPackage base_sim { artifact {
+PackageSet {
+	CatkinPackage base_sim {
     Artifact /base_sim {
-      node Node { name /gazebo
-        serviceserver {
+      Node { name /gazebo
+        ServiceServers {
           ServiceServer { name '/gazebo_ros_control/pid_gains/front_left_wheel/set_parameters' service 'dynamic_reconfigure.Reconfigure'},
           ServiceServer { name '/controller_manager/reload_controller_libraries' service 'controller_manager_msgs.ReloadControllerLibraries'},
           ServiceServer { name '/controller_manager/list_controllers' service 'controller_manager_msgs.ListControllers'},
@@ -12,7 +12,7 @@ PackageSet { package {
           ServiceServer { name '/controller_manager/switch_controller' service 'controller_manager_msgs.SwitchController'},
           ServiceServer { name '/gazebo_ros_control/pid_gains/rear_right_wheel/set_parameters' service 'dynamic_reconfigure.Reconfigure'},
           ServiceServer { name '/gazebo_ros_control/pid_gains/rear_left_wheel/set_parameters' service 'dynamic_reconfigure.Reconfigure'}}
-        publisher {
+        Publishers {
           Publisher { name '/gazebo_ros_control/pid_gains/front_left_wheel/parameter_updates' message 'dynamic_reconfigure.Config'},
           Publisher { name '/gazebo_ros_control/pid_gains/rear_left_wheel/parameter_updates' message 'dynamic_reconfigure.Config'},
           Publisher { name '/joint_states' message 'sensor_msgs.JointState'},
@@ -23,6 +23,6 @@ PackageSet { package {
           Publisher { name '/gazebo_ros_control/pid_gains/rear_left_wheel/parameter_descriptions' message 'dynamic_reconfigure.ConfigDescription'},
           Publisher { name '/gazebo_ros_control/pid_gains/rear_right_wheel/parameter_descriptions' message 'dynamic_reconfigure.ConfigDescription'},
           Publisher { name '/gazebo_ros_control/pid_gains/front_right_wheel/parameter_updates' message 'dynamic_reconfigure.Config'}}
-        subscriber {
+        Subscribers {
           Subscriber { name '/cmd_vel' message 'geometry_msgs.Twist'}}}
-}}}}}
+}}}
diff --git a/metacontrol_models_experiment/rosnodes/battery_load_control.ros b/metacontrol_models_experiment/rosnodes/battery_load_control.ros
@@ -1,14 +1,14 @@
-PackageSet { package { 
-  CatkinPackage metacontrol_sim { artifact {    
+PackageSet { 
+  CatkinPackage metacontrol_sim {    
   	Artifact battery_load_control_node {
-      node Node { name battery_load_control_node
-        publisher {
+      Node { name battery_load_control_node
+        Publishers {
           Publisher { name '/power_load' message 'std_msgs.Float32'}}
-        subscriber {
+        Subscribers {
           Subscriber { name '/odom' message 'nav_msgs.Odometry'},
           Subscriber { name '/cmd_vel' message 'geometry_msgs.Twist'},
           Subscriber { name '/imu/data' message 'sensor_msgs.Imu'}}
-        parameter {
+        Parameters {
       	  Parameter { name 'min_power_load' type Double },
           Parameter { name 'max_power_load' type Double },
           Parameter { name 'odom_topic' type String },
@@ -19,4 +19,4 @@ PackageSet { package {
           Parameter { name 'controller_frequency' type Double },
           Parameter { name 'const_acceleration' type Double },
           Parameter { name 'const_frequency' type Double }}
-}}}}}}
+}}}}
diff --git a/metacontrol_models_experiment/rosnodes/fake_localization.ros b/metacontrol_models_experiment/rosnodes/fake_localization.ros
@@ -1,17 +1,17 @@
-PackageSet { package {
-	CatkinPackage fake_localization { artifact {
+PackageSet {
+	CatkinPackage fake_localization {
 		Artifact  fake_localization {
-			node Node { name fake_localization 
-        publisher {
+			Node { name fake_localization 
+        Publishers {
           Publisher { name '/amcl_pose' message 'geometry_msgs.PoseWithCovarianceStamped'},
           Publisher { name '/particlecloud' message 'geometry_msgs.PoseArray'}}
-        subscriber {
+        Subscribers {
           Subscriber { name '/ground_truth/state' message 'nav_msgs.Odometry'},
           Subscriber { name '/initialpose' message 'geometry_msgs.PoseWithCovarianceStamped'}}
-        parameter {
+        Parameters {
           Parameter { name 'delta_yaw' type Double },
           Parameter { name 'global_frame_id' type String },
           Parameter { name 'base_frame_id' type String },
           Parameter { name 'delta_x' type Double },
           Parameter { name 'delta_y' type Double }}
-}}}}}}
+}}}}
diff --git a/metacontrol_models_experiment/rosnodes/imu.ros b/metacontrol_models_experiment/rosnodes/imu.ros
@@ -1,21 +1,21 @@
-PackageSet { package {
-	CatkinPackage imu_sim { artifact {
+PackageSet {
+	CatkinPackage imu_sim {
     Artifact /imu {
-      node Node { name /gazebo
-        serviceserver {
+      Node { name /gazebo
+        ServiceServers {
           ServiceServer { name 'data/calibrate' service 'std_srvs.Empty'},
           ServiceServer { name 'data/yaw/set_parameters' service 'dynamic_reconfigure.Reconfigure'},
           ServiceServer { name 'data/rate/set_parameters' service 'dynamic_reconfigure.Reconfigure'},
           ServiceServer { name 'data/accel/set_parameters' service 'dynamic_reconfigure.Reconfigure'}}
-        publisher {
+        Publishers {
           Publisher { name 'data/accel/parameter_descriptions' message 'dynamic_reconfigure.ConfigDescription'},
           Publisher { name 'data/bias' message 'sensor_msgs.Imu'},
           Publisher { name 'data' message 'sensor_msgs.Imu'},
           Publisher { name 'data/accel/parameter_updates' message 'dynamic_reconfigure.Config'},
           Publisher { name 'data/rate/parameter_descriptions' message 'dynamic_reconfigure.ConfigDescription'},
           Publisher { name 'data/yaw/parameter_updates' message 'dynamic_reconfigure.Config'},
           Publisher { name 'data/yaw/parameter_descriptions' message 'dynamic_reconfigure.ConfigDescription'}}
-        parameter {
+        Parameters {
           Parameter { name 'data/rate/offset' type Double },
           Parameter { name 'data/accel/scale_error' type Double },
           Parameter { name 'data/yaw/drift_frequency' type Double },
@@ -31,4 +31,4 @@ PackageSet { package {
           Parameter { name 'data/rate/drift_frequency' type Double },
           Parameter { name 'data/accel/offset' type Double },
           Parameter { name 'data/yaw/scale_error' type Double }
-}}}}}}}
+}}}}}
diff --git a/metacontrol_models_experiment/rosnodes/laser_filter.ros b/metacontrol_models_experiment/rosnodes/laser_filter.ros
@@ -1,19 +1,19 @@
-PackageSet { package { 
-  CatkinPackage laser_filters { artifact {    
+PackageSet { 
+  CatkinPackage laser_filters {    
     Artifact scan_to_scan_filter_chain {
-      node Node { name laser_filter
-        serviceserver {
+      Node { name laser_filter
+        ServiceServers {
           ServiceServer { name 'shadows/set_parameters' service 'dynamic_reconfigure.Reconfigure'}}
-        publisher {
+        Publishers {
           Publisher { name 'shadows/parameter_descriptions' message 'dynamic_reconfigure.ConfigDescription'},
           Publisher { name '/scan_filtered' message 'sensor_msgs.LaserScan'},
           Publisher { name 'shadows/parameter_updates' message 'dynamic_reconfigure.Config'}}
-        subscriber {
+        Subscribers {
           Subscriber { name '/front/scan' message 'sensor_msgs.LaserScan'}}
-        parameter {
-		  Parameter { name 'scan_filter_chain' type Struc {
+        Parameters {
+		  Parameter { name 'scan_filter_chain' type Struct {
             'type' String,
-            'params' Struc{
+            'params' Struct{
               'lower_angle' Double,
               'upper_angle' Double},
             'name' String}},
@@ -22,4 +22,4 @@ PackageSet { package {
           Parameter { name 'shadows/neighbors' type Integer },
           Parameter { name 'shadows/max_angle' type Double },
           Parameter { name 'shadows/window' type Integer }}
-}}}}}}
+}}}}
diff --git a/metacontrol_models_experiment/rosnodes/move_base.ros b/metacontrol_models_experiment/rosnodes/move_base.ros
@@ -1,8 +1,8 @@
-PackageSet { package { 
-  CatkinPackage move_base { artifact {
+PackageSet { 
+  CatkinPackage move_base {
     Artifact move_base {
-      node Node { name move_base
-        serviceserver {
+      Node { name move_base
+        ServiceServers {
           ServiceServer { name 'TrajectoryPlannerROS/set_parameters' service 'dynamic_reconfigure.Reconfigure'},
           ServiceServer { name 'global_costmap/obstacles_layer/set_parameters' service 'dynamic_reconfigure.Reconfigure'},
           ServiceServer { name 'local_costmap/obstacles_layer/set_parameters' service 'dynamic_reconfigure.Reconfigure'},
@@ -15,7 +15,7 @@ PackageSet { package {
           ServiceServer { name 'local_costmap/inflater_layer/set_parameters' service 'dynamic_reconfigure.Reconfigure'},
           ServiceServer { name 'NavfnROS/make_plan' service 'nav_msgs.GetPlan'},
           ServiceServer { name 'global_costmap/set_parameters' service 'dynamic_reconfigure.Reconfigure'}}
-        publisher {
+        Publishers {
           Publisher { name 'global_costmap/inflater_layer/parameter_updates' message 'dynamic_reconfigure.Config'},
           Publisher { name 'NavfnROS/plan' message 'nav_msgs.Path'},
           Publisher { name 'local_costmap/inflater_layer/parameter_updates' message 'dynamic_reconfigure.Config'},
@@ -47,16 +47,16 @@ PackageSet { package {
           Publisher { name 'global_costmap/costmap_updates' message 'map_msgs.OccupancyGridUpdate'},
           Publisher { name 'local_costmap/obstacles_layer/parameter_updates' message 'dynamic_reconfigure.Config'},
           Publisher { name 'global_costmap/static_layer/parameter_updates' message 'dynamic_reconfigure.Config'}}
-        subscriber {
+        Subscribers {
           Subscriber { name '/front/scan' message 'sensor_msgs.LaserScan'},
           Subscriber { name '/move_base_simple/goal' message 'geometry_msgs.PoseStamped'},
           Subscriber { name 'local_costmap/footprint' message 'geometry_msgs.PolygonStamped'},
           Subscriber { name '/map' message 'nav_msgs.OccupancyGrid'},
           Subscriber { name 'global_costmap/footprint' message 'geometry_msgs.PolygonStamped'},
           Subscriber { name '/odometry/filtered' message 'nav_msgs.Odometry'}}
-        actionserver {
+        ActionServers {
           ActionServer { name 'move_base' action 'move_base_msgs.MoveBase'}}
-		parameter { 
+		Parameters { 
 		  Parameter { name controller_frequency type Integer {default 20}},
 		  Parameter { name planner_frequency type Double {default 7.5}},
 		  Parameter { name acc_lim_x type Double {default 5.0}},
@@ -185,7 +185,7 @@ PackageSet { package {
           Parameter { name 'TrajectoryPlannerROS/restore_defaults' type Boolean },
           Parameter { name 'global_costmap/origin_x' type Double },
           Parameter { name 'base_local_planner' type String },
-          Parameter { name 'local_costmap/plugins' type Struc {
+          Parameter { name 'local_costmap/plugins' type Struct {
             'type' String,
             'name' String}},
           Parameter { name 'local_costmap/obstacles_layer/scan/obstacle_range' type Double },
@@ -199,7 +199,7 @@ PackageSet { package {
           Parameter { name 'local_costmap/obstacles_layer/scan/clearing' type Boolean },
           Parameter { name 'local_costmap/obstacles_layer/scan/topic' type String },
           Parameter { name 'global_costmap/robot_base_frame' type String },
-          Parameter { name 'global_costmap/plugins' type Struc {
+          Parameter { name 'global_costmap/plugins' type Struct {
             'type' String,
             'name' String}},
           Parameter { name 'local_costmap/obstacles_layer/scan/sensor_frame' type String },
@@ -223,4 +223,4 @@ PackageSet { package {
           Parameter { name 'TrajectoryPlannerROS/heading_scoring_timestep' type Double },
           Parameter { name 'local_costmap/obstacles_layer/point_cloud/topic' type String },
           Parameter { name 'global_costmap/inflater_layer/inflate_unknown' type Boolean }}
-}}}}}}
+}}}}
diff --git a/metacontrol_models_experiment/rosnodes/observers/energy_quality_observer.ros b/metacontrol_models_experiment/rosnodes/observers/energy_quality_observer.ros
@@ -1,8 +1,8 @@
-PackageSet { package { 
-  CatkinPackage rosgraph_monitor { artifact {
+PackageSet { 
+  CatkinPackage rosgraph_monitor {
     Artifact energy_quality_observer {
-      node Node { name energy_quality_observer_node
-        publisher { 
+      Node { name energy_quality_observer_node
+        Publishers { 
           Publisher { name '/diagnostics' message 'diagnostic_msgs.DiagnosticArray'}}
-        subscriber {
-          Subscriber { name '/power_load' message 'std_msgs.Float32'}}}}}}}}
+        Subscribers {
+          Subscriber { name '/power_load' message 'std_msgs.Float32'}}}}}}
diff --git a/metacontrol_models_experiment/rosnodes/observers/safety_quality_observer.ros b/metacontrol_models_experiment/rosnodes/observers/safety_quality_observer.ros
@@ -1,10 +1,10 @@
-PackageSet { package { 
-  CatkinPackage rosgraph_monitor { artifact {
+PackageSet { 
+  CatkinPackage rosgraph_monitor {
     Artifact my_observer {
-      node Node { name /my_observer
-        publisher { 
+      Node { name /my_observer
+        Publishers { 
           Publisher { name '/diagnostics' message 'diagnostic_msgs.DiagnosticArray'}}
-        subscriber {
+        Subscribers {
           Subscriber { name '/d_obstacle' message 'std_msgs.Float32'},
           Subscriber { name '/odom' message 'nav_msgs.Odometry'},
-          Subscriber { name 'imu/data' message 'sensor_msgs.Imu'}}}}}}}}
+          Subscriber { name 'imu/data' message 'sensor_msgs.Imu'}}}}}}
diff --git a/metacontrol_models_experiment/rosnodes/safety_distance_publisher.ros b/metacontrol_models_experiment/rosnodes/safety_distance_publisher.ros
@@ -1,17 +1,17 @@
-PackageSet { package { 
-  CatkinPackage metacontrol_sim { artifact {
+PackageSet { 
+  CatkinPackage metacontrol_sim {
     Artifact safety_distance_publisher {
-      node Node { name safety_distance_publisher_node
-        publisher {
+      Node { name safety_distance_publisher_node
+        Publishers {
           Publisher { name '/d_obstacle' message 'std_msgs.Float32'},
           Publisher { name '/d_inflation' message 'std_msgs.Float32'}}
-        subscriber {
+        Subscribers {
           Subscriber { name '/scan_filtered' message 'sensor_msgs.LaserScan'}}
-        parameter {
-          Parameter { name '/safety_distance_publisher_node/scan_filter_chain' type Struc {
+        Parameters {
+          Parameter { name '/safety_distance_publisher_node/scan_filter_chain' type Struct {
             'type' String,
-            'params' Struc{
+            'params' Struct{
               'lower_angle' Double,
               'upper_angle' Double},
             'name' String}}}
-}}}}}}
+}}}}
diff --git a/metacontrol_models_experiment/system.rossystem b/metacontrol_models_experiment/system.rossystem
@@ -328,7 +328,8 @@ RosSystem { Name 'system'
 		RosServiceServer "/gazebo_ros_control/pid_gains/rear_right_wheel/set_parameters" { RefServer "base_sim./base_sim./gazebo./gazebo_ros_control/pid_gains/rear_right_wheel/set_parameters" },
 		RosServiceServer "/gazebo_ros_control/pid_gains/rear_left_wheel/set_parameters" { RefServer "base_sim./base_sim./gazebo./gazebo_ros_control/pid_gains/rear_left_wheel/set_parameters" } } } ) 
 
-	TopicConnections { TopicConnection "/cmd_vel" { From ( "move_base./cmd_vel" ) To ( "battery_load_control./cmd_vel" ) } , TopicConnection "/cmd_vel" { From ( "move_base./cmd_vel" ) To ( "base_sim./cmd_vel" ) } , TopicConnection "/scan_filtered" { From ( "laser_filter./scan_filtered" ) To ( "safety_distance_publisher./scan_filtered" ) } , TopicConnection "/odom" { From ( "base_sim./odom" ) To ( "battery_load_control./odom" ) } } Parameters {
-		Parameter { name qa_safety type Double },
-		Parameter { name qa_energy type Double }} 
+	TopicConnections { TopicConnection "/cmd_vel" { From ( "move_base./cmd_vel" ) To ( "battery_load_control./cmd_vel" ) } , TopicConnection "/cmd_vel" { From ( "move_base./cmd_vel" ) To ( "base_sim./cmd_vel" ) } , TopicConnection "/scan_filtered" { From ( "laser_filter./scan_filtered" ) To ( "safety_distance_publisher./scan_filtered" ) } , TopicConnection "/odom" { From ( "base_sim./odom" ) To ( "battery_load_control./odom" ) } } 
+	Parameters {
+		Parameter { name qa_safety type Double},
+		Parameter { name qa_energy type Double}} 
 }
diff --git a/metacontrol_sim_model/representations.aird b/metacontrol_sim_model/representations.aird
diff --git a/metacontrol_sim_model/rosnodes/rosin_experiment.ros b/metacontrol_sim_model/rosnodes/rosin_experiment.ros
