Refactor Ignition launch files and spawners to share code #786
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
# Conflicts: # subt_ign/launch/cave_circuit.ign # subt_ign/launch/tunnel_circuit_practice.ign # subt_ign/launch/urban_circuit.ign
Signed-off-by: Martin Pecka <[email protected]>
|
Build finished. 21 tests run, 0 skipped, 1 failed. |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This is a continuation of #759. In that PR I noticed how cumbersome and unreliable it is to add a change affecting all robots, e.g. a new plugin shared by all robots.
I was seeking for some kind of
<include>tag for ign-launch, which isn't yet supported for anything else than whole models. After discussion with @adlarkin, we concluded that it could be tackled from Ruby.Here's a partial PR on which I mainly want to agree whether the proposed changes are okay, and once they are approved, I can "spread them" to all files that could potentially benefit from them (all robot spawn scripts and some world launch files).
Basically, I created three Ruby library files which contain most of the logic that should rather be shared than copied all over the repository. My ruby-fu is not yet very mature, so please pay special attention to the library code (I learned something during preparation of the PR, but it was mainly bits and pieces).
I based this PR on top of #759 because it wouldn't make sense to start it off of master. So the changes as viewed in this PR are a bit mixed, and it's better to view the changelog at peci1/subt@peci1:dynamic_ground_truth_tf...peci1:ruby-refactor . That are just the changes proposed in this PR (7 changed files ATM).