optional config dir

husarion · Dec 9, 2024 · 95b49be · 95b49be
1 parent d3da0b5
commit 95b49be
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Showing 5 changed files with 101 additions and 10 deletions.
diff --git a/husarion_ugv_bringup/launch/bringup.launch.py b/husarion_ugv_bringup/launch/bringup.launch.py
@@ -29,6 +29,13 @@
 
 
 def generate_launch_description():
+    common_dir_path = LaunchConfiguration("common_dir_path")
+    declare_common_dir_path_arg = DeclareLaunchArgument(
+        "common_dir_path",
+        default_value="",
+        description="Path to the common configuration directory.",
+    )
+
     disable_manager = LaunchConfiguration("disable_manager")
     declare_disable_manager_arg = DeclareLaunchArgument(
         "disable_manager",
@@ -55,7 +62,7 @@ def generate_launch_description():
                 [FindPackageShare("husarion_ugv_controller"), "launch", "controller.launch.py"]
             )
         ),
-        launch_arguments={"namespace": namespace}.items(),
+        launch_arguments={"namespace": namespace, "common_dir_path": common_dir_path}.items(),
     )
 
     system_monitor_launch = IncludeLaunchDescription(
@@ -77,7 +84,7 @@ def generate_launch_description():
                 [FindPackageShare("husarion_ugv_lights"), "launch", "lights.launch.py"]
             )
         ),
-        launch_arguments={"namespace": namespace}.items(),
+        launch_arguments={"namespace": namespace, "common_dir_path": common_dir_path}.items(),
     )
 
     battery_launch = IncludeLaunchDescription(
@@ -95,7 +102,7 @@ def generate_launch_description():
                 [FindPackageShare("husarion_ugv_localization"), "launch", "localization.launch.py"]
             )
         ),
-        launch_arguments={"namespace": namespace}.items(),
+        launch_arguments={"namespace": namespace, "common_dir_path": common_dir_path}.items(),
     )
 
     manager_launch = IncludeLaunchDescription(
@@ -105,7 +112,7 @@ def generate_launch_description():
             )
         ),
         condition=UnlessCondition(disable_manager),
-        launch_arguments={"namespace": namespace}.items(),
+        launch_arguments={"namespace": namespace, "common_dir_path": common_dir_path}.items(),
     )
 
     delayed_action = TimerAction(
@@ -119,6 +126,7 @@ def generate_launch_description():
     )
 
     actions = [
+        declare_common_dir_path_arg,
         declare_disable_manager_arg,
         declare_namespace_arg,
         welcome_info,

diff --git a/husarion_ugv_controller/launch/controller.launch.py b/husarion_ugv_controller/launch/controller.launch.py
@@ -34,13 +34,39 @@
 
 
 def generate_launch_description():
-    husarion_ugv_controller_common_dir = PathJoinSubstitution(
-        ["/config", "husarion_ugv_controller"]
+    common_dir_path = LaunchConfiguration("common_dir_path")
+    declare_common_dir_path_arg = DeclareLaunchArgument(
+        "common_dir_path",
+        default_value="",
+        description="Path to the common configuration directory.",
+    )
+    husarion_ugv_controller_common_dir = PythonExpression(
+        [
+            "'",
+            common_dir_path,
+            "/husarion_ugv_controller' if '",
+            common_dir_path,
+            "' else '",
+            FindPackageShare("husarion_ugv_controller"),
+            "'",
+        ]
     )
 
     robot_model = LaunchConfiguration("robot_model")
     robot_description_pkg = PythonExpression(["'", robot_model, "_description'"])
-    robot_description_common_dir = PathJoinSubstitution(["/config", robot_description_pkg])
+    robot_description_common_dir = PythonExpression(
+        [
+            "'",
+            common_dir_path,
+            "/",
+            robot_description_pkg,
+            "' if '",
+            common_dir_path,
+            "' else '",
+            FindPackageShare(robot_description_pkg),
+            "'",
+        ]
+    )
 
     declare_robot_model_arg = DeclareLaunchArgument(
         "robot_model",
@@ -288,6 +314,7 @@ def generate_launch_description():
     )
 
     actions = [
+        declare_common_dir_path_arg,
         declare_battery_config_path_arg,
         declare_robot_model_arg,  # robot_model is used by wheel_type
         declare_wheel_type_arg,  # wheel_type is used by controller_config_path

diff --git a/husarion_ugv_lights/launch/lights.launch.py b/husarion_ugv_lights/launch/lights.launch.py
@@ -33,7 +33,24 @@
 def generate_launch_description():
     robot_model = LaunchConfiguration("robot_model")
     husarion_ugv_lights_pkg = FindPackageShare("husarion_ugv_lights")
-    husarion_ugv_lights_common_dir = PathJoinSubstitution(["/config", "husarion_ugv_lights"])
+    common_dir_path = LaunchConfiguration("common_dir_path")
+    declare_common_dir_path_arg = DeclareLaunchArgument(
+        "common_dir_path",
+        default_value="",
+        description="Path to the common configuration directory.",
+    )
+    husarion_ugv_lights_common_dir = PythonExpression(
+        [
+            "'",
+            common_dir_path,
+            "/husarion_ugv_lights' if '",
+            common_dir_path,
+            "' else '",
+            FindPackageShare("husarion_ugv_lights"),
+            "'",
+        ]
+    )
+
     animations_config = PythonExpression(["'", robot_model, "_animations.yaml'"])
 
     animations_config_path = LaunchConfiguration("animations_config_path")
@@ -112,6 +129,7 @@ def generate_launch_description():
     )
 
     actions = [
+        declare_common_dir_path_arg,
         declare_robot_model_arg,  # robot_model is used by animations_config_path
         declare_animations_config_path_arg,
         declare_namespace_arg,

diff --git a/husarion_ugv_localization/launch/localization.launch.py b/husarion_ugv_localization/launch/localization.launch.py
@@ -86,11 +86,29 @@ def generate_launch_description():
         ["'", mode_prefix, "localization", gps_postfix, ".yaml'"]
     )
 
+    common_dir_path = LaunchConfiguration("common_dir_path")
+    declare_common_dir_path_arg = DeclareLaunchArgument(
+        "common_dir_path",
+        default_value="",
+        description="Path to the common configuration directory.",
+    )
+    husarion_ugv_localization_common_dir = PythonExpression(
+        [
+            "'",
+            common_dir_path,
+            "/husarion_ugv_localization' if '",
+            common_dir_path,
+            "' else '",
+            FindPackageShare("husarion_ugv_localization"),
+            "'",
+        ]
+    )
+
     localization_config_path = LaunchConfiguration("localization_config_path")
     declare_localization_config_path_arg = DeclareLaunchArgument(
         "localization_config_path",
         default_value=PathJoinSubstitution(
-            ["/config", "husarion_ugv_localization", "config", localization_config_filename]
+            [husarion_ugv_localization_common_dir, "config", localization_config_filename]
         ),
         description="Specify the path to the localization configuration file.",
     )
@@ -135,6 +153,7 @@ def generate_launch_description():
     )
 
     actions = [
+        declare_common_dir_path_arg,
         declare_fuse_gps_arg,
         declare_launch_nmea_gps_arg,
         declare_localization_mode_arg,

diff --git a/husarion_ugv_manager/launch/manager.launch.py b/husarion_ugv_manager/launch/manager.launch.py
@@ -21,15 +21,33 @@
     EnvironmentVariable,
     LaunchConfiguration,
     PathJoinSubstitution,
+    PythonExpression,
 )
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
 
+    common_dir_path = LaunchConfiguration("common_dir_path")
+    declare_common_dir_path_arg = DeclareLaunchArgument(
+        "common_dir_path",
+        default_value="",
+        description="Path to the common configuration directory.",
+    )
+    husarion_ugv_manager_common_dir = PythonExpression(
+        [
+            "'",
+            common_dir_path,
+            "/husarion_ugv_manager' if '",
+            common_dir_path,
+            "' else '",
+            FindPackageShare("husarion_ugv_manager"),
+            "'",
+        ]
+    )
+
     husarion_ugv_manager_pkg = FindPackageShare("husarion_ugv_manager")
-    husarion_ugv_manager_common_dir = PathJoinSubstitution(["/config", "husarion_ugv_manager"])
 
     lights_bt_project_path = LaunchConfiguration("lights_bt_project_path")
     declare_lights_bt_project_path_arg = DeclareLaunchArgument(
@@ -105,6 +123,7 @@ def generate_launch_description():
     )
 
     actions = [
+        declare_common_dir_path_arg,
         declare_lights_bt_project_path_arg,
         declare_safety_bt_project_path_arg,
         declare_namespace_arg,