fixed bug in launch file and getting parameters in node, need futher …

…test with X11 installed.

rb_ws/src/buggy/buggy/simulator/velocity_ui.py

@@ -2,22 +2,35 @@
 import sys
 import threading
 import tkinter as tk
-from controller_2d import Controller
+# from controller_2d import Controller
 import rclpy
 from rclpy.node import Node
 
 class VelocityUI(Node):
-    def __init__(self, init_vel: float, buggy_name: str):
+    def __init__(self):
         super().__init__('velocity_ui')
+        self.get_logger().info('INITIALIZED.')
 
-        # So the buggy doesn't start moving without user input
-        self.buggy_vel = 0
-        self.controller = Controller(buggy_name)
-        self.lock = threading.Lock()
+        # Declare parameters with default values
+        self.declare_parameter('init_vel', 12)
+        self.declare_parameter('buggy_name', 'SC')
+        # Get the parameter values
+        self.init_vel = self.get_parameter("init_vel").value
+        self.buggy_name = self.get_parameter("buggy_name").value
 
+        # initialize variables
+        # TODO: uncomment after controller is implemented
+        # # So the buggy doesn't start moving without user input
+        # self.buggy_vel = 0
+        # # self.controller = Controller(buggy_name)
+        # self.lock = threading.Lock()
+
+        self.buggy_vel = self.init_vel
+
+        # TODO: This line currently generate error
         self.root = tk.Tk()
 
-        self.root.title(buggy_name + ' Manual Velocity: scale = 0.1m/s')
+        self.root.title(self.buggy_name + ' Manual Velocity: scale = 0.1m/s')
         self.root.geometry('600x100')
         self.root.configure(background='#342d66')
 
@@ -30,7 +43,7 @@ def __init__(self, init_vel: float, buggy_name: str):
 
         # ROS2 timer for stepping
         # 0.01 is equivalent to 100Hz (100 times per second)
-        self.create_timer(0.01, self.step)
+        # self.create_timer(0.01, self.step)
 
     def step(self):
         # Sets the velocity of the buggy to the current scale value
@@ -40,22 +53,13 @@ def step(self):
         # Update velocity of the buggy
         # '/10' set velocity with 0.1 precision
         self.buggy_vel = self.scale.get() / 10
-        self.controller.set_velocity(self.buggy_vel)
+        # TODO: uncomment after controller is implemented
+        # self.controller.set_velocity(self.buggy_vel)
 
 def main(args=None):
     rclpy.init(args=args)
-
-    if len(sys.argv) < 3:
-        print("Usage: velocity_ui <initial_velocity> <buggy_name>")
-        sys.exit(1)
-
-    init_vel = float(sys.argv[1])
-    buggy_name = sys.argv[2]
-
-    velocity_ui = VelocityUI(init_vel, buggy_name)
-
-    rclpy.spin(velocity_ui)
-    velocity_ui.destroy_node()
+    vel_ui = VelocityUI()
+    rclpy.spin(vel_ui)
     rclpy.shutdown()
 
 if __name__ == "__main__":

rb_ws/src/buggy/buggy/simulator/velocity_updater.py

@@ -4,7 +4,7 @@
 import threading
 import rclpy
 from rclpy.node import Node
-from controller_2d import Controller
+# from controller_2d import Controller
 from geometry_msgs.msg import Pose
 from geometry_msgs.msg import Point
 
@@ -15,23 +15,32 @@ class VelocityUpdater(Node):
     # 'list[tuple[float,float,float,float]]'
     # need further update such as more data or import data from certain files
     CHECKPOINTS = [
-        (589701, 4477160, 20, 5)
+        (589701, 4477160, 20, 0.5)
     ]
 
-    def __init__(self, init_vel: float, buggy_name: str):
-        super().__init__('vel_updater')
+    def __init__(self):
+        super().__init__('velocity_updater')
+        self.get_logger().info('INITIALIZED.')
 
-        self.buggy_vel = init_vel
+        # Declare parameters with default values
+        self.declare_parameter('init_vel', 12)
+        self.declare_parameter('buggy_name', 'SC')
+        # Get the parameter values
+        self.init_vel = self.get_parameter("init_vel").value
+        self.buggy_name = self.get_parameter("buggy_name").value
+
+        # initialize variables
+        self.buggy_vel = self.init_vel
         self.accel = 0.0
         self.position = Point()
-        self.controller = Controller(buggy_name)
-
-        self.lock = threading.Lock()
+        # TODO: uncomment after controller is implemented
+        # self.controller = Controller(self.buggy_name)
+        # self.lock = threading.Lock()
 
         # ROS2 subscription
         self.pose_subscriber = self.create_subscription(
             Pose,
-            f"{buggy_name}/sim_2d/utm",
+            f"{self.buggy_name}/sim_2d/utm",
             self.update_position,
             10  # QoS profile
         )
@@ -64,22 +73,13 @@ def step(self):
         self.calculate_accel()
         new_velocity = self.buggy_vel + self.accel / self.RATE
         self.buggy_vel = new_velocity
-        self.controller.set_velocity(new_velocity)
+        # TODO: uncomment after controller is implemented
+        # self.controller.set_velocity(new_velocity)
 
 def main(args=None):
     rclpy.init(args=args)
-
-    if len(sys.argv) < 3:
-        print("Usage: vel_updater <initial_velocity> <buggy_name>")
-        sys.exit(1)
-
-    init_vel = float(sys.argv[1])
-    buggy_name = sys.argv[2]
-
-    velocity_updater = VelocityUpdater(init_vel, buggy_name)
-
-    rclpy.spin(velocity_updater)
-    velocity_updater.destroy_node()
+    vel_updater = VelocityUpdater()
+    rclpy.spin(vel_updater)
     rclpy.shutdown()
 
 if __name__ == "__main__":

rb_ws/src/buggy/launch/sim_2d_single_velocity.xml

@@ -12,12 +12,12 @@
     </node>
 
     <!-- velocity ui and updater nodes -->
-    <node pkg="buggy" exec="velocity_ui" name="velocity_ui" namespace="SC">
-        <param name="initial_vel" value="12"/>
+    <node pkg="buggy" exec="velocity_ui" name="SC_velocity_ui" namespace="SC">
+        <param name="init_vel" value="12"/>
         <param name="buggy_name" value="SC"/>
     </node>
-    <node pkg="buggy" exec="VelocityUpdater" name="velocity_updater" namespace="SC">
-        <param name="initial_vel" value="12"/>
+    <node pkg="buggy" exec="velocity_updater" name="SC_velocity_updater" namespace="SC">
+        <param name="init_vel" value="12"/>
         <param name="buggy_name" value="SC"/>
     </node>
 

rb_ws/src/buggy/setup.py

@@ -26,8 +26,8 @@
         'console_scripts': [
             'hello_world = buggy.hello_world:main',
             'sim_single = buggy.simulator.engine:main',
-            'sim_velocity_ui = buggy.similator.velocity_ui:main',
-            'sim_velocity_updater = buggy.similator.velocity_updater:main',
+            'velocity_ui = buggy.simulator.velocity_ui:main',
+            'velocity_updater = buggy.simulator.velocity_updater:main',
             'watchdog = buggy.watchdog.watchdog_node:main'
         ],
     },