Refactor robot arm and runtime initialization logic

- Updated error message in `rbs_arm.py` to use the complete joint names for improved clarity.
- Refactored `scene.py` to replace asynchronous parameter retrieval with synchronous methods for reliability and simplified implementation.
- Enhanced `runtime.launch.py`:
  - Added new launch arguments `use_rbs_utils` and `assembly_config_name`.
  - Included additional parameters in runtime node initialization.
  - Adjusted runtime node arguments for debugging and clarity.
- Updated `runtime.py`:
  - Introduced `MultiThreadedExecutor` for improved threading and node handling.
  - Refactored the `main` function for cleaner node lifecycle management.

env_manager/env_manager/env_manager/models/robots/rbs_arm.py

@@ -150,4 +150,4 @@ class RbsArm(RobotWrapper):
         for positions, joint_names in joint_position_data:
             print(f"Setting joint positions for {joint_names}: {positions}")
             if not model.reset_joint_positions(positions, joint_names):
-                raise RuntimeError(f"Failed to set initial positions of {joint_names[0].split('_')[0]}'s joints")
+                raise RuntimeError(f"Failed to set initial positions of {joint_names}'s joints")

env_manager/env_manager/env_manager/scene/scene.py

@@ -90,12 +90,12 @@ class Scene:
             self.param_client = node.create_client(
                 GetParameters, "/robot_state_publisher/get_parameters"
             )
-            asyncio.run(self.get_parameter_async())
+            self.get_parameter_sync()
-            scene.robot.urdf_string = (
+            # scene.robot.urdf_string = (
-                node.get_parameter("robot_description")
+            #     node.get_parameter("robot_description")
-                .get_parameter_value()
+            #     .get_parameter_value()
-                .string_value
+            #     .string_value
-            )
+            # )
         else:
             scene.robot.urdf_string = robot_urdf_string
 
@@ -122,44 +122,32 @@ class Scene:
 
             # self.marker_array = MarkerArray()
 
-
+    def get_parameter_sync(self):
-    async def get_parameter_async(self):
         """
-        Asynchronously retrieves the robot_description parameter from the robot state publisher.
+        Retrieves the `robot_description` parameter synchronously, waiting for the asynchronous call to complete.
-
-        This method waits for the parameter service to become available and then sends
-        a request to retrieve the robot_description parameter. If the parameter is found,
-        it updates the local node parameter.
-
-        Raises:
-            RuntimeError: If the robot_description parameter is not found or if the
-            response type is unexpected.
         """
-        while not self.param_client.wait_for_service(timeout_sec=1.0):
+        while not self.param_client.wait_for_service(timeout_sec=5.0):
-            self.node.get_logger().info(
+            self.node.get_logger().info("Service /robot_state_publisher/get_parameters is unavailable, waiting ...")
-                "Waiting for parameter service [robot_state_publisher]..."
-            )
 
-        self.node.get_logger().info("Sending request for parameter...")
+        request = self.create_get_parameters_request()
-        future = self.param_client.call_async(self.create_get_parameters_request())
+        future = self.param_client.call_async(request)
         
-        response = await future
+        rclpy.spin_until_future_complete(self.node, future)
 
-        match response:
+        if future.result() is None:
-            case None:
+            raise RuntimeError("Failed to retrieve the robot_description parameter")
-                raise RuntimeError(
+
-                    "robot_description parameter not found in robot_state_publisher"
+        response = future.result()
-                )
+        if not response.values or not response.values[0].string_value:
-            case GetParameters.Response(values=[value]) if value.string_value:
+            raise RuntimeError("The robot_description parameter is missing or empty")
-                self.node.get_logger().info(f"Got parameter: {value.string_value}")
+
+        value = response.values[0]
+        self.node.get_logger().info("Succesfully got parameter response from robot_state_publisher")
         param = Parameter(
             "robot_description", Parameter.Type.STRING, value.string_value
         )
+        self.robot.urdf_string = value.string_value
         self.node.set_parameters([param])
-            case _:
-                raise RuntimeError(
-                    f"I don't know what but the type of robot_description parameter is {type(response)}"
-                )
 
     def create_get_parameters_request(self) -> GetParameters.Request:
         """

env_manager/rbs_runtime/launch/runtime.launch.py

@@ -32,17 +32,16 @@ def launch_setup(context, *args, **kwargs):
     moveit_config_file = LaunchConfiguration("moveit_config_file")
     use_sim_time = LaunchConfiguration("use_sim_time")
     scene_config_file = LaunchConfiguration("scene_config_file").perform(context)
-
     ee_link_name = LaunchConfiguration("ee_link_name").perform(context)
     base_link_name = LaunchConfiguration("base_link_name").perform(context)
-
     control_space = LaunchConfiguration("control_space").perform(context)
     control_strategy = LaunchConfiguration("control_strategy").perform(context)
-
     interactive = LaunchConfiguration("interactive").perform(context)
-
     real_robot = LaunchConfiguration("real_robot").perform(context)
 
+    use_rbs_utils = LaunchConfiguration("use_rbs_utils")
+    assembly_config_name = LaunchConfiguration("assembly_config_name")
+
     if not scene_config_file == "":
         config_file = {"config_file": scene_config_file}
     else:
@@ -152,6 +151,8 @@ def launch_setup(context, *args, **kwargs):
             "control_space": control_space,
             "control_strategy": control_strategy,
             "interactive_control": interactive,
+            "use_rbs_utils": use_rbs_utils,
+            "assembly_config_name": assembly_config_name
         }.items(),
     )
 
@@ -170,9 +171,7 @@ def launch_setup(context, *args, **kwargs):
     rbs_runtime = Node(
         package="rbs_runtime",
         executable="runtime",
-        output='log',
+        arguments=[('--ros-args --remap log_level:=debug')],
-        emulate_tty=True,
-        # arguments=[('log_level:=debug')],
         parameters=[robot_description, config_file, {"use_sim_time": True}],
     )
 
@@ -333,6 +332,23 @@ def generate_launch_description():
     )
 
 
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "use_rbs_utils",
+            default_value="true",
+            description="Wheter to use rbs_utils",
+        ),
+    )
+
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "assembly_config_name",
+            default_value="",
+            description="Assembly config name from rbs_assets_library",
+        ),
+    )
+
+
     return LaunchDescription(
         declared_arguments + [OpaqueFunction(function=launch_setup)]
     )

env_manager/rbs_runtime/rbs_runtime/scripts/runtime.py

@@ -7,10 +7,10 @@ from env_manager_interfaces.srv import ResetEnv
 from rbs_assets_library import get_world_file
 from rclpy.node import Node
 from scenario.bindings.gazebo import GazeboSimulator
+from rclpy.executors import MultiThreadedExecutor, ExternalShutdownException
 
 from .. import scene_config_loader
 
-
 class GazeboRuntime(Node):
     def __init__(self) -> None:
         super().__init__(node_name="rbs_gz_runtime")
@@ -61,14 +61,13 @@ class GazeboRuntime(Node):
         return res
 
 
-def main(args=None):
+def main():
-    rclpy.init(args=args)
+    rclpy.init()
-    runtime_node = GazeboRuntime()
-    rclpy.spin(runtime_node)
-    runtime_node.gazebo.close()
-    runtime_node.destroy_node()
-    rclpy.shutdown()
 
-
+    executor = MultiThreadedExecutor()
-if __name__ == "__main__":
+    node = GazeboRuntime()
-    main()
+    executor.add_node(node)
+    try:
+        executor.spin()
+    except (KeyboardInterrupt, ExternalShutdownException):
+        node.destroy_node()