Fix python modules and command_astrobee arguments (#125)

nasa · Jan 26, 2024 · 8b42ef1 · 8b42ef1
1 parent f3e5df1
commit 8b42ef1
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Showing 15 changed files with 300 additions and 73 deletions.
diff --git a/astrobee/survey_manager/survey_planner/CMakeLists.txt b/astrobee/survey_manager/survey_planner/CMakeLists.txt
@@ -72,8 +72,11 @@ catkin_python_setup()
 catkin_package()
 
 catkin_install_python(PROGRAMS
-  tools/survey_planner/command_astrobee
-  tools/survey_planner/monitor_astrobee
+  tools/command_astrobee
+  tools/monitor_astrobee
+  tools/plan_interpreter
+  tools/plan_survey
+  tools/problem_generator
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
 # Mark executables and/or libraries for installation

diff --git a/astrobee/survey_manager/survey_planner/setup.py b/astrobee/survey_manager/survey_planner/setup.py
@@ -2,6 +2,6 @@
 
 from catkin_pkg.python_setup import generate_distutils_setup
 
-d = generate_distutils_setup(packages=["survey_planner"], package_dir={"": "tools"})
+d = generate_distutils_setup(packages=["survey_planner"], package_dir={"": "src"})
 
 setup(**d)
diff --git a/astrobee/survey_manager/survey_planner/src/isaac_action_node.cpp b/astrobee/survey_manager/survey_planner/src/isaac_action_node.cpp
@@ -26,6 +26,7 @@
 
 #include <algorithm>
 #include <string>
+#include <vector>
 #include <iostream>
 
 #include "survey_planner/isaac_action_node.h"
@@ -43,7 +44,8 @@ IsaacAction::IsaacAction(ros::NodeHandle nh, const std::string& action, const st
 void IsaacAction::do_work() {
   std::string from, towards;
 
-  if (get_arguments().size() < 3) {
+  const std::vector<std::string>& command_args = get_arguments();
+  if (command_args.size() < 3) {
     finish(false, 1.0, "Not enough arguments for [MOVE] command");
   }
 
@@ -58,10 +60,10 @@ void IsaacAction::do_work() {
       args[0] = "sh";
       args[1] = "-c";
       command_ = "rosrun survey_planner command_astrobee ";
-      for (const auto& arg : get_arguments()) {
-          command_ += arg + " ";
+      command_ += action_name_ + " ";
+      for (unsigned int i = 0; i < command_args.size(); i++) {
+          command_ += command_args[i] + " ";
       }
-      command_ += "run1";
       args[2] = command_.c_str();
       args[3] = NULL;
       printf("%s\n", args[2]);

diff --git a/...vey_manager/survey_planner/tools/mypy.ini → ...urvey_manager/survey_planner/src/mypy.ini b/...vey_manager/survey_planner/tools/mypy.ini → ...urvey_manager/survey_planner/src/mypy.ini
diff --git a/..._planner/tools/survey_planner/__init__.py → ...ey_planner/src/survey_planner/__init__.py b/..._planner/tools/survey_planner/__init__.py → ...ey_planner/src/survey_planner/__init__.py