robossembler/runtime
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move xacro_args loader to utils

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This commit is contained in:
Ilya Uraev 2025-02-06 15:21:00 +03:00
parent 942bafab4d
commit 6b376f40a6
2 changed files with 29 additions and 27 deletions
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28
env_manager/rbs_runtime/launch/runtime.launch.py
View file

@ -17,6 +17,7 @@ from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from robot_builder.external.ros2_control import ControllerManager
from robot_builder.parser.urdf import URDF_parser
from rbs_utils.launch import load_xacro_args
def launch_setup(context, *args, **kwargs):
@ -65,33 +66,6 @@ def launch_setup(context, *args, **kwargs):
description_package_abs_path, "urdf", "xacro_args.yaml"
)
# TODO: hide this to another place
# Load xacro_args
def param_constructor(loader, node, local_vars):
value = loader.construct_scalar(node)
return LaunchConfiguration(value).perform(
local_vars.get("context", "Launch context if not defined")
)
def variable_constructor(loader, node, local_vars):
value = loader.construct_scalar(node)
return local_vars.get(value, f"Variable '{value}' not found")
def load_xacro_args(yaml_file, local_vars):
# Get valut from ros2 argument
yaml.add_constructor(
"!param", lambda loader, node: param_constructor(loader, node, local_vars)
)
# Get value from local variable in this code
# The local variable should be initialized before the loader was called
yaml.add_constructor(
"!variable",
lambda loader, node: variable_constructor(loader, node, local_vars),
)
with open(yaml_file, "r") as file:
return yaml.load(file, Loader=yaml.FullLoader)
mappings_data = load_xacro_args(xacro_config_file, locals())

28
rbs_utils/rbs_utils/rbs_utils/launch.py Normal file
View file

@ -0,0 +1,28 @@
import yaml
from launch.substitutions import LaunchConfiguration
def param_constructor(loader, node, local_vars):
value = loader.construct_scalar(node)
return LaunchConfiguration(value).perform(
local_vars.get("context", "Launch context if not defined")
)
def variable_constructor(loader, node, local_vars):
value = loader.construct_scalar(node)
return local_vars.get(value, f"Variable '{value}' not found")
def load_xacro_args(yaml_file, local_vars):
# Get valut from ros2 argument
yaml.add_constructor(
"!param", lambda loader, node: param_constructor(loader, node, local_vars)
)
# Get value from local variable in this code
# The local variable should be initialized before the loader was called
yaml.add_constructor(
"!variable",
lambda loader, node: variable_constructor(loader, node, local_vars),
)
with open(yaml_file, "r") as file:
return yaml.load(file, Loader=yaml.FullLoader)