ROS 2 config dir

husarion_ugv_controller/launch/controller.launch.py

@@ -34,6 +34,24 @@
 
 
 def generate_launch_description():
+    husarion_ugv_controller_common_dir = PathJoinSubstitution(
+        ["/config", "husarion_ugv_controller"]
+    )
+
+    robot_model = LaunchConfiguration("robot_model")
+    robot_model_dict = {"LNX": "lynx", "PTH": "panther"}
+    robot_model_env = os.environ.get("ROBOT_MODEL", default="PTH")
+
+    robot_description_pkg = PythonExpression(["'", robot_model, "_description'"])
+    robot_description_common_dir = PathJoinSubstitution(["/config", robot_description_pkg])
+
+    declare_robot_model_arg = DeclareLaunchArgument(
+        "robot_model",
+        default_value=robot_model_dict[robot_model_env],
+        description="Specify robot model",
+        choices=["lynx", "panther"],
+    )
+
     battery_config_path = LaunchConfiguration("battery_config_path")
     declare_battery_config_path_arg = DeclareLaunchArgument(
         "battery_config_path",
@@ -48,7 +66,7 @@ def generate_launch_description():
     declare_components_config_path_arg = DeclareLaunchArgument(
         "components_config_path",
         default_value=PathJoinSubstitution(
-            [FindPackageShare("panther_description"), "config", "components.yaml"]
+            [robot_description_common_dir, "config", "components.yaml"]
         ),
         description=(
             "Additional components configuration file. Components described in this file "
@@ -64,7 +82,7 @@ def generate_launch_description():
         "controller_config_path",
         default_value=PathJoinSubstitution(
             [
-                FindPackageShare("husarion_ugv_controller"),
+                husarion_ugv_controller_common_dir,
                 "config",
                 PythonExpression(["'", wheel_type, "_controller.yaml'"]),
             ]
@@ -94,16 +112,6 @@ def generate_launch_description():
         choices=["True", "true", "False", "false"],
     )
 
-    robot_model = LaunchConfiguration("robot_model")
-    robot_model_dict = {"LNX": "lynx", "PTH": "panther"}
-    robot_model_env = os.environ.get("ROBOT_MODEL", default="PTH")
-    declare_robot_model_arg = DeclareLaunchArgument(
-        "robot_model",
-        default_value=robot_model_dict[robot_model_env],
-        description="Specify robot model",
-        choices=["lynx", "panther"],
-    )
-
     use_sim = LaunchConfiguration("use_sim")
     declare_use_sim_arg = DeclareLaunchArgument(
         "use_sim",
@@ -112,7 +120,6 @@ def generate_launch_description():
         choices=["True", "true", "False", "false"],
     )
 
-    robot_description_pkg = PythonExpression(["'", robot_model, "_description'"])
     wheel_config_path = LaunchConfiguration("wheel_config_path")
     declare_wheel_config_path_arg = DeclareLaunchArgument(
         "wheel_config_path",
@@ -143,7 +150,6 @@ def generate_launch_description():
     )
 
     # Get URDF via xacro
-    robot_description_pkg = PythonExpression(["'", robot_model, "_description'"])
     robot_description_file = PythonExpression(["'", robot_model, ".urdf.xacro'"])
     imu_pos_x = os.environ.get("ROBOT_IMU_LOCALIZATION_X", "0.168")
     imu_pos_y = os.environ.get("ROBOT_IMU_LOCALIZATION_Y", "0.028")

husarion_ugv_lights/CONFIGURATION.md

@@ -96,7 +96,7 @@ user_animations:
       - type: husarion_ugv_lights::ImageAnimation
         segments: all
         animation:
-          image: $(find husarion_ugv_lights)/animations/strip01_red.png
+          image: $(find husarion_ugv_lights)/animations/panther/strip01_red.png
           duration: 2
           repeat: 2
           color: 0xffff00

husarion_ugv_lights/config/user_animations.yaml

@@ -0,0 +1,20 @@
+# This file is a placeholder for user-defined animations for the Husarion UGV
+# robots lights system. Users can define their own light animations in this
+# YAML file.
+#
+# For more examples and detailed documentation, please visit:
+# https://github.com/husarion/panther_ros/blob/ros2/panther_lights/CONFIGURATION.md#defining-animations
+#
+# Example including a simple custom animation:
+#
+# user_animations:
+#   - id: 21
+#     name: CUSTOM_IMAGE_ANIMATION
+#     priority: 3
+#     animations:
+#       - type: panther_lights::ImageAnimation
+#         segments: all
+#         animation:
+#           image: /config/husarion_ugv_lights/animations/example.png
+#           duration: 3
+#           repeat: 1

husarion_ugv_lights/launch/lights.launch.py

@@ -33,13 +33,14 @@
 
 def generate_launch_description():
     robot_model = LaunchConfiguration("robot_model")
-    lights_pkg = FindPackageShare("husarion_ugv_lights")
+    husarion_ugv_lights_pkg = FindPackageShare("husarion_ugv_lights")
+    husarion_ugv_lights_common_dir = PathJoinSubstitution(["/config", "husarion_ugv_lights"])
     animations_config = PythonExpression(["'", robot_model, "_animations.yaml'"])
 
     animations_config_path = LaunchConfiguration("animations_config_path")
     declare_animations_config_path_arg = DeclareLaunchArgument(
         "animations_config_path",
-        default_value=PathJoinSubstitution([lights_pkg, "config", animations_config]),
+        default_value=PathJoinSubstitution([husarion_ugv_lights_pkg, "config", animations_config]),
         description="Path to a YAML file with a description of led configuration.",
     )
 
@@ -69,12 +70,14 @@ def generate_launch_description():
     user_led_animations_path = LaunchConfiguration("user_led_animations_path")
     declare_user_led_animations_path_arg = DeclareLaunchArgument(
         "user_led_animations_path",
-        default_value="",
+        default_value=PathJoinSubstitution(
+            [husarion_ugv_lights_common_dir, "config", "user_animations.yaml"]
+        ),
         description="Path to a YAML file with a description of the user defined animations.",
     )
 
     driver_config = PythonExpression(["'", robot_model, "_driver.yaml'"])
-    driver_config_path = PathJoinSubstitution([lights_pkg, "config", driver_config])
+    driver_config_path = PathJoinSubstitution([husarion_ugv_lights_pkg, "config", driver_config])
     lights_container = ComposableNodeContainer(
         package="rclcpp_components",
         name="lights_container",

husarion_ugv_localization/launch/localization.launch.py

@@ -90,7 +90,7 @@ def generate_launch_description():
     declare_localization_config_path_arg = DeclareLaunchArgument(
         "localization_config_path",
         default_value=PathJoinSubstitution(
-            [FindPackageShare("husarion_ugv_localization"), "config", localization_config_filename]
+            ["/config", "husarion_ugv_localization", "config", localization_config_filename]
         ),
         description="Specify the path to the localization configuration file.",
     )

husarion_ugv_manager/launch/manager.launch.py

@@ -28,13 +28,14 @@
 
 def generate_launch_description():
 
-    husarion_ugv_manager_dir = 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(
         "lights_bt_project_path",
         default_value=PathJoinSubstitution(
-            [husarion_ugv_manager_dir, "behavior_trees", "LightsBT.btproj"]
+            [husarion_ugv_manager_common_dir, "behavior_trees", "LightsBT.btproj"]
         ),
         description="Path to BehaviorTree project file, responsible for lights management.",
     )
@@ -50,7 +51,7 @@ def generate_launch_description():
     declare_safety_bt_project_path_arg = DeclareLaunchArgument(
         "safety_bt_project_path",
         default_value=PathJoinSubstitution(
-            [husarion_ugv_manager_dir, "behavior_trees", "SafetyBT.btproj"]
+            [husarion_ugv_manager_pkg, "behavior_trees", "SafetyBT.btproj"]
         ),
         description="Path to BehaviorTree project file, responsible for safety and shutdown management.",
     )
@@ -60,7 +61,7 @@ def generate_launch_description():
         "shutdown_hosts_config_path",
         default_value=PathJoinSubstitution(
             [
-                FindPackageShare("husarion_ugv_manager"),
+                husarion_ugv_manager_common_dir,
                 "config",
                 "shutdown_hosts.yaml",
             ]
@@ -80,7 +81,7 @@ def generate_launch_description():
         executable="lights_manager_node",
         name="lights_manager",
         parameters=[
-            PathJoinSubstitution([husarion_ugv_manager_dir, "config", "lights_manager.yaml"]),
+            PathJoinSubstitution([husarion_ugv_manager_pkg, "config", "lights_manager.yaml"]),
             {"bt_project_path": lights_bt_project_path},
         ],
         namespace=namespace,
@@ -92,7 +93,7 @@ def generate_launch_description():
         executable="safety_manager_node",
         name="safety_manager",
         parameters=[
-            PathJoinSubstitution([husarion_ugv_manager_dir, "config", "safety_manager.yaml"]),
+            PathJoinSubstitution([husarion_ugv_manager_pkg, "config", "safety_manager.yaml"]),
             {
                 "bt_project_path": safety_bt_project_path,
                 "shutdown_hosts_path": shutdown_hosts_config_path,