Fix launch files

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>
open-rmf · Nov 15, 2024 · 8140474 · 8140474
1 parent 492b274
commit 8140474
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Showing 5 changed files with 14 additions and 8 deletions.
diff --git a/free_fleet_adapter/CMakeLists.txt b/free_fleet_adapter/CMakeLists.txt
@@ -6,6 +6,13 @@ find_package(ament_cmake REQUIRED)
 
 ament_python_install_package(${PROJECT_NAME})
 
+install(PROGRAMS
+  ${PROJECT_NAME}/fleet_adapter.py
+  ${PROJECT_NAME}/robot_adapter.py
+  ${PROJECT_NAME}/nav2_robot_adapter.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
 install(DIRECTORY
   launch/
   DESTINATION share/${PROJECT_NAME}

diff --git a/free_fleet_adapter/free_fleet_adapter/fleet_adapter.py b/free_fleet_adapter/free_fleet_adapter/fleet_adapter.py
@@ -20,6 +20,7 @@
 import threading
 import time
 
+from free_fleet_adapter.nav2_robot_adapter import Nav2RobotAdapter
 import nudged
 import rclpy
 from rclpy.duration import Duration
@@ -33,9 +34,6 @@
 import zenoh
 
 
-from .nav2_robot_adapter import Nav2RobotAdapter
-
-
 # ------------------------------------------------------------------------------
 # Helper functions
 # ------------------------------------------------------------------------------

diff --git a/free_fleet_adapter/free_fleet_adapter/nav2_robot_adapter.py b/free_fleet_adapter/free_fleet_adapter/nav2_robot_adapter.py
@@ -248,8 +248,9 @@ def _handle_navigate_to_pose(
             # TODO(ac): test this map related replanning behavior
             self.replan_counts += 1
             self.node.get_logger().error(
-                f'Destination is on map [{map_name}], while robot [{self.name}] is '
-                f'on map [{self.map}], replan count [{self.replan_counts}]'
+                f'Destination is on map [{map_name}], while robot '
+                f'[{self.name}] is on map [{self.map}], replan count '
+                f'[{self.replan_counts}]'
             )
 
             self._check_update_handle_initialization()

diff --git a/free_fleet_adapter/launch/fleet_adapter.launch.xml b/free_fleet_adapter/launch/fleet_adapter.launch.xml
@@ -12,7 +12,7 @@
   <group>
     <group if="$(var use_sim_time)">
       <node pkg="free_fleet_adapter"
-            exec="fleet_adapter"
+            exec="fleet_adapter.py"
             args="-c $(var config_file) -n $(var nav_graph_file) -s $(var server_uri) -sim"
             output="both">
 
@@ -23,7 +23,7 @@
 
     <group unless="$(var use_sim_time)">
       <node pkg="free_fleet_adapter"
-            exec="fleet_adapter"
+            exec="fleet_adapter.py"
             args="-c $(var config_file) -n $(var nav_graph_file) -s $(var server_uri)"
             output="both">
 

diff --git a/free_fleet_examples/launch/tb3_simulation_fleet_adapter.launch.xml b/free_fleet_examples/launch/tb3_simulation_fleet_adapter.launch.xml
@@ -4,7 +4,7 @@
   <arg name="server_uri" default="" description="The URI of the api server to transmit state and task information."/>
 
   <group>
-    <include file="$(find-pkg-share free_fleet_adapter)/launch/fleet_adapter.launch.xml">
+    <include file="$(find-pkg-share free_fleet_adapter)/fleet_adapter.launch.xml">
       <arg name="use_sim_time" value="false"/>
       <arg name="nav_graph_file" value="$(find-pkg-share free_fleet_examples)/maps/turtlebot3_world/nav_graphs/0.yaml" />
       <arg name="config_file" value="$(find-pkg-share free_fleet_examples)/fleet_configs/tb3_simulation_fleet_config.yaml"/>