conditional nodes and updates to launch file parameters

schpin_tote/src/config.yaml

@@ -125,7 +125,7 @@ default_leg: &DEFAULT_LEG
         mirror: [0,0,0]
         chain_root: coxa
         channel_offset: 0
-        segments: # min( torque_needed / max_torque , 1 ) * ( stall_current - running_current ) + stall_current
+        segments:
                 coxa:
                         pos: [0,0,0]
                         rot: [0,0,0]

schpin_tote/src/lib/launch.py

@@ -74,6 +74,18 @@ def generate_robot_description():
 
     return launch
 
+def master_conditional_node(*args, **kwargs):
+    kwargs['if'] = "$(eval env('ROBOT_ADDRESS') == 'localhost')"
+    etree.SubElement(
+            *args,
+            **kwargs
+            )
+    kwargs['if'] = "$(eval env('ROBOT_ADDRESS') != 'localhost')"
+    etree.SubElement(
+            *args,
+            machine='master',
+            **kwargs
+            )
 
 def generate_pwm_joints_node(xml_root, name, segments_map):
 
@@ -84,7 +96,6 @@ def generate_pwm_joints_node(xml_root, name, segments_map):
         type="pwm_joints",
         name=name,
         respawn="true",
-        machine="robot"
     )
 
     controllers = {
@@ -151,7 +162,6 @@ def generate_pwm_joints_node(xml_root, name, segments_map):
         output="screen",
         ns=name,
         args=" ".join(controllers.keys()),
-        machine="robot"
     )
 
 
@@ -163,7 +173,6 @@ def generate_state_publishers(element, joint_source_list):
         name="robot_state_publisher",
         pkg="robot_state_publisher",
         type="robot_state_publisher",
-        machine="robot"
     )
     js_pub = etree.SubElement(
         element,
@@ -171,7 +180,6 @@ def generate_state_publishers(element, joint_source_list):
         name="joint_state_publisher",
         pkg="joint_state_publisher",
         type="joint_state_publisher",
-        machine="robot"
     )
 
     js_params = etree.SubElement(js_pub, "rosparam")
@@ -185,9 +193,10 @@ def generate_state_publishers(element, joint_source_list):
 
 
 def generate_machines(element):
-    etree.SubElement(
-        element, "machine", name="master", address="$(env MASTER_ADDRESS)"
+    master = etree.SubElement(
+        element, "machine", name="master", address="$(env MASTER_ADDRESS)",
     )
+    master.set('if', "$(eval env('ROBOT_ADDRESS') != 'localhost')")
 
     robot = etree.SubElement(
         element,
@@ -195,8 +204,9 @@ def generate_machines(element):
         name="robot",
         address="$(env ROBOT_ADDRESS)",
         default="true",
-        user="$(env ROBOT_USER)"
+        user="$(env ROBOT_USER)",
     )
+    robot.set('if',"$(eval env('ROBOT_ADDRESS') != 'localhost')")
     robot.set("env-loader", "~/setup.bash")
 
 
@@ -208,8 +218,7 @@ def generate_control_layer(cfg):
 
     generate_state_publishers(
         launch,
-        ["/control/leg/" + x + "/joint_states"
-         for x in cfg['legs'].keys()] + ["/control/gimbal/joint_states"]
+        ["/control/joint_states"]
     )
 
     segments_map = list()
@@ -258,22 +267,12 @@ def generate_user_layer(cfg):
 
     launch = etree.Element('launch')
 
-    etree.SubElement(
+    master_conditional_node(
         launch,
         "node",
         name="$(anon rviz)",
         pkg="rviz",
-        type="rviz",
-        machine="master"
-    )
-
-    etree.SubElement(
-        launch,
-        "node",
-        name="$(anon rqt)",
-        pkg="rqt",
-        type="rqt",
-        machine="master"
+        type="rviz"
     )
     return launch
 
@@ -292,6 +291,12 @@ def generate_main(cfg):
 
     return launch
 
+def generate_debug_joints(cfg):
+    launch = etree.Element('launch')
+
+    etree.SubElement( launch, "node", name="joint_marker",  pkg="schpin_user", type="joint_markers.py")
+
+    return launch
 
 def generate_launch_files(cfg):
     """ generates all required launch files """
@@ -301,6 +306,7 @@ def generate_launch_files(cfg):
         "control_layer.launch": generate_control_layer(cfg),
         "user_layer.launch": generate_user_layer(cfg),
         "general.launch": generate_general(cfg),
+        "debug/joints.launch": generate_debug_joints(cfg),
         "main.launch": generate_main(cfg),
     }
 

schpin_tote/src/lib/stl.py

@@ -9,7 +9,7 @@ def render(filename, scad_cfg, mirror):
 
     scad = "../scad/tmp.scad"
     with open(scad, "w") as fd:
-        fd.write("include <model.scad>;\n $fn=128;")
+        fd.write("include <model.scad>;\n $fn=32;")
         if mirror is not None:
             fd.write("mirror({})".format([int(x) for x in mirror]))
         args = ",".join([str(convert_scad(x)) for x in scad_cfg['args']])
@@ -62,5 +62,5 @@ def render_stl(cfg):
         )
 
     render_chain(
-        cfg['gimbal']['segments'], cfg['gimbal']['chain_root'], folder="cam/", mirror=None
+        cfg['gimbal']['segments'], cfg['gimbal']['chain_root'], folder="gimbal/", mirror=None
     )