Fix launch files

bit-bots · Aug 11, 2023 · 26cbcbf · 26cbcbf
1 parent 33c8f82
commit 26cbcbf
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Showing 16 changed files with 49 additions and 36 deletions.
diff --git a/bitbots_animation_server/launch/test.launch b/bitbots_animation_server/launch/test.launch
@@ -7,8 +7,8 @@
     <include file="$(find-pkg-share bitbots_ros_control)/launch/ros_control.launch" />
   </group>
 
-  <include file="$(find-pkg-share bitbots_bringup)/launch/base.launch" />
-  <include file="$(find-pkg-share bitbots_utils)/launch/motion_base.launch" />
+  <include file="$(find-pkg-share bitbots_utils)/launch/parameter_blackboard.launch" />
+  <include file="$(find-pkg-share bitbots_robot_description)/launch/load_robot_description.launch" />
 
   <node pkg="bitbots_animation_server" exec="animation_node" output="screen" launch-prefix="$(var taskset)"/>
   <node name="animation_hcm_bridge" pkg="bitbots_animation_server" exec="animation_hcm_bridge.py"  output="screen" launch-prefix="$(var taskset)"/>

diff --git a/bitbots_animation_server/package.xml b/bitbots_animation_server/package.xml
@@ -14,11 +14,13 @@
 
   <license>MIT</license>
 
+  <depend>bitbots_docs</depend>
+  <depend>bitbots_robot_description</depend>
+  <depend>bitbots_splines</depend>
+  <depend>bitbots_utils</depend>
+  <depend>humanoid_league_msgs</depend>
   <depend>rclpy</depend>
   <depend>std_msgs</depend>
-  <depend>humanoid_league_msgs</depend>
-  <depend>bitbots_splines</depend>
-  <depend>bitbots_docs</depend>
 
   <export>
     <bitbots_documentation>

diff --git a/bitbots_dynamic_kick/launch/test.launch b/bitbots_dynamic_kick/launch/test.launch
@@ -6,11 +6,11 @@
     <let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 3,4"/>
     <let unless="$(env IS_ROBOT false)" name="taskset" value=""/>
 
-    <include file="$(find-pkg-share bitbots_bringup)/launch/base.launch" >
+    <include file="$(find-pkg-share bitbots_utils)/launch/parameter_blackboard.launch" >
         <arg name="sim" value="$(var sim)"/>
     </include>
 
-    <include file="$(find-pkg-share bitbots_utils)/launch/motion_base.launch" >
+    <include file="$(find-pkg-share bitbots_robot_description)/launch/load_robot_description.launch" >
         <arg name="sim" value="$(var sim)"/>
     </include>
 

diff --git a/bitbots_dynamic_kick/launch/viz.launch b/bitbots_dynamic_kick/launch/viz.launch
@@ -1,7 +1,7 @@
 <launch>
-  <include file="$(find-pkg-share bitbots_bringup)/launch/base.launch" />
+  <include file="$(find-pkg-share bitbots_utils)/launch/parameter_blackboard.launch" />
 
-  <include file="$(find-pkg-share bitbots_utils)/launch/motion_base.launch" />
+  <include file="$(find-pkg-share bitbots_robot_description)/launch/load_robot_description.launch" />
 
   <!-- launch the base footprint -->
   <node pkg="humanoid_base_footprint" exec="base_footprint" output="screen">

diff --git a/bitbots_dynamic_kick/package.xml b/bitbots_dynamic_kick/package.xml
@@ -24,6 +24,7 @@
     <depend>bio_ik</depend>
     <depend>bitbots_docs</depend>
     <depend>bitbots_msgs</depend>
+    <depend>bitbots_robot_description</depend>
     <depend>bitbots_splines</depend>
     <depend>bitbots_utils</depend>
     <depend>control_toolbox</depend>

diff --git a/bitbots_dynup/launch/test.launch b/bitbots_dynup/launch/test.launch
@@ -8,12 +8,12 @@
   <let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 3,4"/>
   <let unless="$(env IS_ROBOT false)" name="taskset" value=""/>
 
-  <include file="$(find-pkg-share bitbots_bringup)/launch/base.launch" >
+  <include file="$(find-pkg-share bitbots_utils)/launch/parameter_blackboard.launch" >
     <arg name="sim" value="$(var sim)"/>
     <arg name="robot_type" value="$(var robot_type)"/>
   </include>
 
-  <include file="$(find-pkg-share bitbots_utils)/launch/motion_base.launch" >
+  <include file="$(find-pkg-share bitbots_robot_description)/launch/load_robot_description.launch" >
       <arg name="sim" value="$(var sim)"/>
   </include>
 

diff --git a/bitbots_dynup/package.xml b/bitbots_dynup/package.xml
@@ -13,24 +13,27 @@
   <author email="[email protected]">Marc Bestmann</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <depend>std_msgs</depend>
-  <depend>tf2</depend>
-  <depend>tf2_ros</depend>
-  <depend>tf2_eigen</depend>
-  <depend>tf2_geometry_msgs</depend>
+
+  <depend>backward_ros</depend>
   <depend>bio_ik</depend>
-  <depend>moveit_core</depend>
-  <depend>moveit_ros_move_group</depend>
+  <depend>bitbots_docs</depend>
+  <depend>bitbots_msgs</depend>
+  <depend>bitbots_robot_description</depend>
   <depend>bitbots_splines</depend>
+  <depend>bitbots_utils</depend>
+  <depend>control_toolbox</depend>
   <depend>geometry_msgs</depend>
-  <depend>bitbots_msgs</depend>
-  <depend>moveit_ros_robot_interaction</depend>
+  <depend>moveit_core</depend>
+  <depend>moveit_ros_move_group</depend>
   <depend>moveit_ros_planning_interface</depend>
-  <depend>bitbots_docs</depend>
-  <depend>rot_conv</depend>
-  <depend>control_toolbox</depend>
+  <depend>moveit_ros_robot_interaction</depend>
   <depend>ros2_python_extension</depend>
-  <depend>backward_ros</depend>
+  <depend>rot_conv</depend>
+  <depend>std_msgs</depend>
+  <depend>tf2_eigen</depend>
+  <depend>tf2_geometry_msgs</depend>
+  <depend>tf2_ros</depend>
+  <depend>tf2</depend>
 
   <test_depend>plotjuggler</test_depend>
   <test_depend>bitbots_odometry</test_depend>

diff --git a/bitbots_hcm/launch/test.launch b/bitbots_hcm/launch/test.launch
@@ -1,11 +1,11 @@
 <launch>
     <arg name="sim" default="false" description="Disables checks for hardware, since we are in simulation."/>
 
-    <include file="$(find-pkg-share bitbots_bringup)/launch/base.launch">
+    <include file="$(find-pkg-share bitbots_utils)/launch/parameter_blackboard.launch">
         <arg name="sim" value="$(var sim)"/>
     </include>
 
-    <include file="$(find-pkg-share bitbots_utils)/launch/motion_base.launch" >
+    <include file="$(find-pkg-share bitbots_robot_description)/launch/load_robot_description.launch" >
         <arg name="sim" value="$(var sim)"/>
     </include>
 

diff --git a/bitbots_hcm/package.xml b/bitbots_hcm/package.xml
@@ -20,6 +20,8 @@
   <depend>backward_ros</depend>
   <depend>bitbots_docs</depend>
   <depend>bitbots_msgs</depend>
+  <depend>bitbots_robot_description</depend>
+  <depend>bitbots_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>humanoid_league_msgs</depend>
   <depend>pybind11-dev</depend>

diff --git a/bitbots_head_mover/launch/head_mover_standalone.launch b/bitbots_head_mover/launch/head_mover_standalone.launch
@@ -3,11 +3,11 @@
     <arg name="depends_only" default="false" />
     <arg name="sim" default="false" />
 
-    <include file="$(find-pkg-share bitbots_bringup)/launch/base.launch">
+    <include file="$(find-pkg-share bitbots_utils)/launch/parameter_blackboard.launch">
         <arg name="sim" value="$(var sim)"/>
     </include>
 
-    <include file="$(find-pkg-share bitbots_utils)/launch/motion_base.launch" >
+    <include file="$(find-pkg-share bitbots_robot_description)/launch/load_robot_description.launch" >
         <arg name="sim" value="$(var sim)"/>
     </include>
 

diff --git a/bitbots_head_mover/launch/test.launch b/bitbots_head_mover/launch/test.launch
@@ -10,11 +10,11 @@
         </group>
     </group>
 
-    <include file="$(find-pkg-share bitbots_bringup)/launch/base.launch" >
+    <include file="$(find-pkg-share bitbots_utils)/launch/parameter_blackboard.launch" >
         <arg name="sim" value="$(var sim)"/>
     </include>
 
-    <include file="$(find-pkg-share bitbots_utils)/launch/motion_base.launch" >
+    <include file="$(find-pkg-share bitbots_robot_description)/launch/load_robot_description.launch" >
         <arg name="sim" value="$(var sim)"/>
     </include>
 

diff --git a/bitbots_head_mover/package.xml b/bitbots_head_mover/package.xml
@@ -19,6 +19,8 @@
   <depend>bio_ik_msgs</depend>
   <depend>bio_ik</depend>
   <depend>bitbots_msgs</depend>
+  <depend>bitbots_robot_description</depend>
+  <depend>bitbots_utils</depend>
   <depend>generate_parameter_library</depend>
   <depend>humanoid_league_msgs</depend>
   <depend>moveit_core</depend>

diff --git a/bitbots_quintic_walk/launch/test.launch b/bitbots_quintic_walk/launch/test.launch
@@ -7,11 +7,11 @@
   <let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 3,4"/>
   <let unless="$(env IS_ROBOT false)" name="taskset" value=""/>
 
-  <include file="$(find-pkg-share bitbots_bringup)/launch/base.launch" >
+  <include file="$(find-pkg-share bitbots_utils)/launch/parameter_blackboard.launch" >
       <arg name="sim" value="$(var sim)"/>
   </include>
 
-  <include file="$(find-pkg-share bitbots_utils)/launch/motion_base.launch" >
+  <include file="$(find-pkg-share bitbots_robot_description)/launch/load_robot_description.launch" >
       <arg name="sim" value="$(var sim)"/>
     <arg name="robot_type" value="$(var robot_type)"/>
   </include>

diff --git a/bitbots_quintic_walk/package.xml b/bitbots_quintic_walk/package.xml
@@ -27,6 +27,7 @@
     <depend>bio_ik</depend>
     <depend>bitbots_docs</depend>
     <depend>bitbots_msgs</depend>
+    <depend>bitbots_robot_description</depend>
     <depend>bitbots_splines</depend>
     <depend>bitbots_utils</depend>
     <depend>control_toolbox</depend>

diff --git a/bitbots_rl_motion/launch/test.launch b/bitbots_rl_motion/launch/test.launch
@@ -6,11 +6,11 @@
   <let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 3,4"/>
   <let unless="$(env IS_ROBOT false)" name="taskset" value=""/>
 
-  <include file="$(find-pkg-share bitbots_bringup)/launch/base.launch" >
+  <include file="$(find-pkg-share bitbots_utils)/launch/parameter_blackboard.launch" >
       <arg name="sim" value="$(var sim)"/>
   </include>
 
-  <include file="$(find-pkg-share bitbots_utils)/launch/motion_base.launch" >
+  <include file="$(find-pkg-share bitbots_robot_description)/launch/load_robot_description.launch" >
       <arg name="sim" value="$(var sim)"/>
   </include>
 

diff --git a/bitbots_rl_motion/package.xml b/bitbots_rl_motion/package.xml
@@ -15,10 +15,12 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>rclpy</depend>
-  <depend>std_msgs</depend>
   <depend>bitbots_docs</depend>
+  <depend>bitbots_robot_description</depend>
+  <depend>bitbots_utils</depend>
   <depend>diagnostic_aggregator</depend>
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
 
   <export>
     <bitbots_documentation>