Fix ros_interface.py constructor docstring and clean up scripts (#174)

sea-bass · May 8, 2024 · b6efd2c · b6efd2c
1 parent fb9dfa2
commit b6efd2c
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Showing 4 changed files with 11 additions and 9 deletions.
diff --git a/pyrobosim_ros/pyrobosim_ros/ros_interface.py b/pyrobosim_ros/pyrobosim_ros/ros_interface.py
@@ -40,11 +40,11 @@ def __init__(
         Creates a ROS 2 world wrapper node.
 
         This node will:
-            * Subscribe to single actions on the ``commanded_action`` topic.
-            * Subscribe to task plans on the ``commanded_plan`` topic.
-            * Subscribe to robot velocity commands on the ``robot_name/cmd_vel`` topic.
-            * Publish robot states on the ``robot_name/robot_state`` topic.
+            * Publish states for each robot on ``<robot_name>/robot_state`` topics.
+            * Subscribe to velocity commands for each robot on ``<robot_name>/cmd_vel`` topics.
             * Serve a ``request_world_state`` service to retrieve the world state for planning.
+            * Serve a ``execute_action`` action server to run single actions on a robot.
+            * Serve a ``execute_task_plan`` action server to run entire task plans on a robot.
 
         :param world: World model instance.
         :type world: :class:`pyrobosim.core.world.World`

diff --git a/setup/create_python_env.bash b/setup/create_python_env.bash
@@ -16,7 +16,6 @@ source "${VIRTUALENV_FOLDER}/bin/activate"
 SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
 pushd "${SCRIPT_DIR}/.." > /dev/null || exit
 python3 -m pip install --upgrade pip
-# Install catkin-pkg because https://github.com/colcon/colcon-ros/issues/118
 pip3 install ./pyrobosim
 pip3 install -r test/python_test_requirements.txt
 popd > /dev/null || exit

diff --git a/setup/generate_docs.bash b/setup/generate_docs.bash
@@ -6,7 +6,7 @@
 # pip3 install -r docs/python_docs_requirements.txt
 
 SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
-source "${SCRIPT_DIR}/source_pyrobosim.bash"
+source "${SCRIPT_DIR}/source_pyrobosim.bash ${ROS_DISTRO}"
 pushd "${SCRIPT_DIR}/../docs" > /dev/null || exit
 rm -rf build/
 rm -rf source/generated

diff --git a/setup/source_pyrobosim.bash b/setup/source_pyrobosim.bash
@@ -38,25 +38,28 @@ if [ "${ROS_DISTRO}" == "" ]
 then
     echo "Setting up pyrobosim with no ROS distro."
 else
-    echo "Setting up pyrobosim with ROS ${ROS_DISTRO}"
+    echo "Setting up pyrobosim with ROS ${ROS_DISTRO}."
     source /opt/ros/${ROS_DISTRO}/setup.bash
     pushd "${PYROBOSIM_WS}" > /dev/null || exit
     if [ ! -d "build" ]
     then
-        echo "Building colcon workspace..."
+        echo "Building ROS workspace at ${PYROBOSIM_WS}..."
         colcon build
     fi
-    . install/local_setup.bash
+    echo "Sourcing ROS workspace at ${PYROBOSIM_WS}."
+    source install/local_setup.bash
     popd > /dev/null || exit
 fi
 
 # Activate the Python virtual environment
+echo "Activated virtual environment at ${VIRTUALENV_FOLDER}."
 source ${VIRTUALENV_FOLDER}/bin/activate
 
 # Add dependencies to path
 SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
 PDDLSTREAM_PATH=${SCRIPT_DIR}/../dependencies/pddlstream
 if [ -d "${PDDLSTREAM_PATH}" ]
 then
+    echo "Added PDDLStream to Python path."
     export PYTHONPATH=${PDDLSTREAM_PATH}:$PYTHONPATH
 fi