From f14359c81ccae21ac8beaec3f98ef670518115d8 Mon Sep 17 00:00:00 2001
From: Bill Finger <ur.narmak@gmail.com>
Date: Sun, 1 Dec 2024 00:54:06 +0300
Subject: [PATCH] add support for real robot mode in runtime launch

- Added a new `real_robot` launch argument with default set to "false".
- Updated `launch_setup` to handle `real_robot` configuration, allowing selective use of `rbs_robot_setup`.
- Updated `requirements.txt` to replace a static library reference with a GitHub repository link for `rbs_assets_library`.
---
 env_manager/rbs_runtime/launch/runtime.launch.py | 16 ++++++++++++++++
 repos/requirements.txt                           |  4 +++-
 2 files changed, 19 insertions(+), 1 deletion(-)

diff --git a/env_manager/rbs_runtime/launch/runtime.launch.py b/env_manager/rbs_runtime/launch/runtime.launch.py
index 9656efa..d33accc 100644
--- a/env_manager/rbs_runtime/launch/runtime.launch.py
+++ b/env_manager/rbs_runtime/launch/runtime.launch.py
@@ -41,6 +41,8 @@ def launch_setup(context, *args, **kwargs):
 
     interactive = LaunchConfiguration("interactive").perform(context)
 
+    real_robot = LaunchConfiguration("real_robot").perform(context)
+
     if not scene_config_file == "":
         config_file = {"config_file": scene_config_file}
     else:
@@ -153,9 +155,15 @@ def launch_setup(context, *args, **kwargs):
         }.items(),
     )
 
+    if real_robot == "true":
+        return [rbs_robot_setup]
+
     rbs_runtime = Node(
         package="rbs_runtime",
         executable="runtime",
+        output='log',
+        emulate_tty=True,
+        # arguments=[('log_level:=debug')],
         parameters=[robot_description, config_file, {"use_sim_time": True}],
     )
 
@@ -307,6 +315,14 @@ def generate_launch_description():
             description="Wheter to run the motion_control_handle controller",
         ),
     )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "real_robot",
+            default_value="false",
+            description="Wheter to run on the real robot",
+        ),
+    )
+
 
     return LaunchDescription(
         declared_arguments + [OpaqueFunction(function=launch_setup)]
diff --git a/repos/requirements.txt b/repos/requirements.txt
index d1174bf..6214589 100644
--- a/repos/requirements.txt
+++ b/repos/requirements.txt
@@ -26,4 +26,6 @@ wandb>=0.18.6
 scenario @ https://devpi.narmak.xyz/narmak/dev/+f/63e/86b0583c22e52/scenario-1.4.0-cp310-cp310-linux_x86_64.whl#sha256=63e86b0583c22e52c299b9a25e74a26178fc7dbc423f661bf34e4dd26543d11f
 gym-gz @ https://devpi.narmak.xyz/narmak/dev/+f/539/1f448c1391486/gym_gz-1.4.0-py3-none-any.whl#sha256=5391f448c13914860e2a65904f6d0fac7eba71daaa3327d8399d7ae516471a68
 gym-gz-models @ https://devpi.narmak.xyz/narmak/dev/+f/f42/4784934183e88/gym_gz_models-1.2.0-cp310-cp310-linux_x86_64.whl#sha256=f424784934183e88541c703c789315ba6118661bd221a4bf9135c6a0ee012e96
-rbs_asstss_library @ https://devpi.narmak.xyz/narmak/dev/+f/c8f/496c000e90a09/rbs_assets_library-0.1.0-py2.py3-none-any.whl#sha256=c8f496c000e90a09efc0731e7cd06a62a48d645d8a801c2f1bc5c3990c23ba6a
+
+# rbs_assets_library
+git+https://github.com/solid-sinusoid/rbs_assets_library.git@master