Merge remote-tracking branch 'origin/ros2-docking-charging-dock-wibot…

…ic-msgs' into ros2-docking-charging-dock-wibotic-msgs
husarion · Nov 15, 2024 · 7605e89 · 7605e89
2 parents 90ca7aa + 4977ccb
commit 7605e89
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Showing 4 changed files with 8 additions and 5 deletions.
diff --git a/panther/panther_hardware.repos b/panther/panther_hardware.repos
@@ -14,7 +14,7 @@ repositories:
   ros_components_description:
     type: git
     url: https://github.com/husarion/ros_components_description.git
-    version: b29f41ac00ab1a6fbac3e1d03602575094de277a
+    version: fa3a4a9a09d793b16ed23cbeb09cf4c4a892b9e3
   ros2_controllers: # Caused by two error: 1. https://github.com/ros-controls/ros2_controllers/pull/1104 2. There is no nice way to change `sensor_name` imu_bradcaster param when spawning multiple robots -> ros2_control refer only to single imu entity
     type: git
     url: https://github.com/husarion/ros2_controllers/

diff --git a/panther/panther_simulation.repos b/panther/panther_simulation.repos
@@ -14,7 +14,7 @@ repositories:
   ros_components_description:
     type: git
     url: https://github.com/husarion/ros_components_description.git
-    version: b29f41ac00ab1a6fbac3e1d03602575094de277a
+    version: fa3a4a9a09d793b16ed23cbeb09cf4c4a892b9e3
   ros2_controllers: # Caused by two error: 1. https://github.com/ros-controls/ros2_controllers/pull/1104 2. There is no nice way to change `sensor_name` imu_bradcaster param when spawning multiple robots -> ros2_control refer only to single imu entity
     type: git
     url: https://github.com/husarion/ros2_controllers/

diff --git a/panther_docking/launch/docking.launch.py b/panther_docking/launch/docking.launch.py
@@ -17,7 +17,6 @@
 from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import (
-    EnvironmentVariable,
     LaunchConfiguration,
     PathJoinSubstitution,
     PythonExpression,
@@ -117,6 +116,7 @@ def generate_launch_description():
         namespace=namespace,
         emulate_tty=True,
         arguments=["--ros-args", "--log-level", log_level, "--log-level", "rcl:=INFO"],
+        condition=IfCondition(use_docking),
     )
 
     station_launch = IncludeLaunchDescription(
@@ -138,7 +138,9 @@ def generate_launch_description():
         namespace=namespace,
         emulate_tty=True,
         arguments=["--ros-args", "--log-level", log_level, "--log-level", "rcl:=INFO"],
-        condition=IfCondition(PythonExpression(["not ", use_sim, " and ", use_wibotic_info])),
+        condition=IfCondition(
+            PythonExpression(["not ", use_sim, " and ", use_wibotic_info, " and ", use_docking])
+        ),
     )
 
     # FIXME: Remove before release

diff --git a/panther_docking/launch/station.launch.py b/panther_docking/launch/station.launch.py
@@ -29,10 +29,11 @@
 from launch_ros.actions import Node
 from launch_ros.parameter_descriptions import ParameterValue
 from launch_ros.substitutions import FindPackageShare
-from moms_apriltag import TagGenerator2
 
 
 def generate_apriltag_and_get_path(tag_id):
+    from moms_apriltag import TagGenerator2
+
     tag_generator = TagGenerator2("tag36h11")
     tag_image = tag_generator.generate(tag_id, scale=1000)