From e295078446fb2a9152cefd79fde0404d573f247f Mon Sep 17 00:00:00 2001 From: YusukeKato Date: Thu, 24 Jul 2025 15:41:21 +0900 Subject: [PATCH 1/3] =?UTF-8?q?=E3=82=B3=E3=83=B3=E3=83=88=E3=83=AD?= =?UTF-8?q?=E3=83=BC=E3=83=A9=E3=81=AFNode=E3=81=A7=E8=B5=B7=E5=8B=95?= =?UTF-8?q?=E3=80=82Node=E3=81=AE=E5=BC=95=E6=95=B0=E3=81=AE=E9=A0=86?= =?UTF-8?q?=E5=BA=8F=E3=82=92=E6=95=B4=E7=90=86=E3=80=82ruff=E3=81=A7?= =?UTF-8?q?=E8=87=AA=E5=8B=95=E6=95=B4=E5=BD=A2?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../raspimouse_with_color_objects.launch.py | 4 +-- .../raspimouse_with_emptyworld.launch.py | 31 +++++++++---------- .../raspimouse_with_lakehouse.launch.py | 4 +-- ...pimouse_with_line_follower_field.launch.py | 4 +-- 4 files changed, 17 insertions(+), 26 deletions(-) diff --git a/raspimouse_gazebo/launch/raspimouse_with_color_objects.launch.py b/raspimouse_gazebo/launch/raspimouse_with_color_objects.launch.py index f492282..ee4e738 100644 --- a/raspimouse_gazebo/launch/raspimouse_with_color_objects.launch.py +++ b/raspimouse_gazebo/launch/raspimouse_with_color_objects.launch.py @@ -44,6 +44,4 @@ def generate_launch_description(): launch_arguments={'world_name': world_file}.items(), ) - return LaunchDescription( - [SetParameter(name='use_sim_time', value=True), world_launch] - ) + return LaunchDescription([SetParameter(name='use_sim_time', value=True), world_launch]) diff --git a/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py b/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py index 6006882..3cc4a24 100644 --- a/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py +++ b/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py @@ -56,8 +56,7 @@ def generate_launch_description(): ) declare_arg_world_name = DeclareLaunchArgument( 'world_name', - default_value=get_package_share_directory('raspimouse_gazebo') - + '/worlds/empty_world.sdf', + default_value=get_package_share_directory('raspimouse_gazebo') + '/worlds/empty_world.sdf', description='Set world name.', ) declare_arg_spawn_x = DeclareLaunchArgument( @@ -120,9 +119,7 @@ def generate_launch_description(): description_loader.use_rgb_camera = LaunchConfiguration('use_rgb_camera') description_loader.camera_downward = LaunchConfiguration('camera_downward') description_loader.gz_control_config_package = 'raspimouse_gazebo' - description_loader.gz_control_config_file_path = ( - 'config/raspimouse_controllers.yaml' - ) + description_loader.gz_control_config_file_path = 'config/raspimouse_controllers.yaml' robot_state_publisher = Node( package='robot_state_publisher', @@ -131,25 +128,25 @@ def generate_launch_description(): parameters=[{'robot_description': description_loader.load()}], ) - spawn_joint_state_broadcaster = ExecuteProcess( - cmd=['ros2 run controller_manager spawner joint_state_broadcaster'], - shell=True, + spawn_joint_state_broadcaster = Node( + package='controller_manager', + executable='spawner', output='screen', + arguments=['joint_state_broadcaster'], ) - spawn_diff_drive_controller = ExecuteProcess( - cmd=['ros2 run controller_manager spawner diff_drive_controller'], - shell=True, + spawn_diff_drive_controller = Node( + package='controller_manager', + executable='spawner', output='screen', + arguments=['diff_drive_controller'], ) - rviz_config_file = ( - get_package_share_directory('raspimouse_gazebo') + '/config/config.rviz' - ) + rviz_config_file = get_package_share_directory('raspimouse_gazebo') + '/config/config.rviz' rviz = Node( + name='rviz2', package='rviz2', executable='rviz2', - name='rviz2', output='screen', arguments=['-d', rviz_config_file], ) @@ -157,13 +154,13 @@ def generate_launch_description(): bridge = Node( package='ros_gz_bridge', executable='parameter_bridge', + output='screen', arguments=[ '/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock', '/scan@sensor_msgs/msg/LaserScan@gz.msgs.LaserScan', '/camera/color/image_raw@sensor_msgs/msg/Image@gz.msgs.Image', '/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo', ], - output='screen', ) container = ComposableNodeContainer( @@ -171,6 +168,7 @@ def generate_launch_description(): namespace='', package='rclcpp_components', executable='component_container_mt', + output='screen', composable_node_descriptions=[ ComposableNode( package='raspimouse_fake', @@ -178,7 +176,6 @@ def generate_launch_description(): name='raspimouse', ), ], - output='screen', ) return LaunchDescription( diff --git a/raspimouse_gazebo/launch/raspimouse_with_lakehouse.launch.py b/raspimouse_gazebo/launch/raspimouse_with_lakehouse.launch.py index b32bdab..556b693 100644 --- a/raspimouse_gazebo/launch/raspimouse_with_lakehouse.launch.py +++ b/raspimouse_gazebo/launch/raspimouse_with_lakehouse.launch.py @@ -42,6 +42,4 @@ def generate_launch_description(): launch_arguments={'world_name': world_file}.items(), ) - return LaunchDescription( - [SetParameter(name='use_sim_time', value=True), world_launch] - ) + return LaunchDescription([SetParameter(name='use_sim_time', value=True), world_launch]) diff --git a/raspimouse_gazebo/launch/raspimouse_with_line_follower_field.launch.py b/raspimouse_gazebo/launch/raspimouse_with_line_follower_field.launch.py index 36670d6..0d9bce9 100644 --- a/raspimouse_gazebo/launch/raspimouse_with_line_follower_field.launch.py +++ b/raspimouse_gazebo/launch/raspimouse_with_line_follower_field.launch.py @@ -49,6 +49,4 @@ def generate_launch_description(): }.items(), ) - return LaunchDescription( - [SetParameter(name='use_sim_time', value=True), world_launch] - ) + return LaunchDescription([SetParameter(name='use_sim_time', value=True), world_launch]) From 9d9cb1463766a67308e56f17807cf7a925ed2b92 Mon Sep 17 00:00:00 2001 From: YusukeKato Date: Thu, 24 Jul 2025 15:58:16 +0900 Subject: [PATCH 2/3] =?UTF-8?q?=E6=89=8B=E5=8B=95=E3=81=A7=E3=82=82CI?= =?UTF-8?q?=E3=82=92=E5=AE=9F=E8=A1=8C=E3=81=A7=E3=81=8D=E3=82=8B=E3=82=88?= =?UTF-8?q?=E3=81=86=E3=81=AB=E8=A8=AD=E5=AE=9A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .github/workflows/industrial_ci.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/industrial_ci.yml b/.github/workflows/industrial_ci.yml index 159c61a..729fce6 100644 --- a/.github/workflows/industrial_ci.yml +++ b/.github/workflows/industrial_ci.yml @@ -11,6 +11,7 @@ on: - '**.md' schedule: - cron: "0 2 * * 0" # Weekly on Sundays at 02:00 + workflow_dispatch: env: UPSTREAM_WORKSPACE: .github/workflows/.ci.rosinstall From 0bf864df6182d679f60147571698ab90a47be0e0 Mon Sep 17 00:00:00 2001 From: YusukeKato Date: Thu, 24 Jul 2025 17:03:28 +0900 Subject: [PATCH 3/3] =?UTF-8?q?Revert=20"=E6=89=8B=E5=8B=95=E3=81=A7?= =?UTF-8?q?=E3=82=82CI=E3=82=92=E5=AE=9F=E8=A1=8C=E3=81=A7=E3=81=8D?= =?UTF-8?q?=E3=82=8B=E3=82=88=E3=81=86=E3=81=AB=E8=A8=AD=E5=AE=9A"?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit This reverts commit 9d9cb1463766a67308e56f17807cf7a925ed2b92. --- .github/workflows/industrial_ci.yml | 1 - 1 file changed, 1 deletion(-) diff --git a/.github/workflows/industrial_ci.yml b/.github/workflows/industrial_ci.yml index 729fce6..159c61a 100644 --- a/.github/workflows/industrial_ci.yml +++ b/.github/workflows/industrial_ci.yml @@ -11,7 +11,6 @@ on: - '**.md' schedule: - cron: "0 2 * * 0" # Weekly on Sundays at 02:00 - workflow_dispatch: env: UPSTREAM_WORKSPACE: .github/workflows/.ci.rosinstall