Migrate ROS2 launch files to better_launch

.vscode/settings.json

@@ -268,6 +268,8 @@
         "install/bitbots_msgs/lib/python3.12/site-packages",
         "build/bitbots_ball_filter",
         "install/bitbots_ball_filter/lib/python3.12/site-packages",
+        "build/better_launch",
+        "install/better_launch/lib/python3.12/site-packages",
         ".pixi/envs/default/lib/python/site-packages",
         ".pixi/envs/default/lib/python3.12/site-packages",
     ],
@@ -304,6 +306,8 @@
         "install/bitbots_msgs/lib/python3.12/site-packages",
         "build/bitbots_ball_filter",
         "install/bitbots_ball_filter/lib/python3.12/site-packages",
+        "build/better_launch",
+        "install/better_launch/lib/python3.12/site-packages",
         ".pixi/envs/default/lib/python/site-packages",
         ".pixi/envs/default/lib/python3.12/site-packages",
     ],

pixi.toml

@@ -56,10 +56,12 @@ alsa-plugins = ">=1.2.12,<2"
 beartype = ">=0.22.6,<0.23"
 breathe = ">=4.36.0,<5"
 cbor2 = ">=5.9.0,<6"
+click = ">=8.4.2,<9"  # Required by better_launch (src/lib/better_launch)
 cmake = "<3.30"  # Constraint to avoid issues with deprecated features in newer cmake versions
 colorama = ">=0.4.6,<0.5"
 compilers = ">=1.11.0,<2"
 construct = ">=2.10.70,<3"
+docstring_parser = ">=0.18.0,<0.19"  # Required by better_launch (src/lib/better_launch)
 eigen = ">=3.4.0,<4"
 fabric = ">=3.2.2,<4"
 flask = ">=3.1.2,<4"
@@ -82,10 +84,12 @@ numpy = ">=1.26.4,<2"
 nvidia-ml-py = ">=13.595.45,<14"
 opencv = ">=4.11.0,<5"
 openssh = ">=10.5p1,<11"
+osrf_pycommon = ">=0.2.1,<0.3"  # Required by better_launch (src/lib/better_launch)
 paramiko =   ">=4.0.0,<5"
 pkg-config = ">=0.29.2,<0.30"
 playsound = ">=1.3.0,<2"
 portaudio = ">=19.7.0,<20"
+prompt_toolkit = ">=3.0.52,<4"  # Required by better_launch (src/lib/better_launch)
 protobuf = ">=6.31.1,<7"
 psutil = ">=7.1.3,<8"
 pthread-stubs = ">=0.4,<0.5"
@@ -100,6 +104,7 @@ rospkg = ">=1.6.0,<2"
 rsync = ">=3.4.3,<4"
 ruff = ">=0.14.6,<0.15"
 scipy = ">=1.17.1,<2"
+setproctitle = ">=1.3.7,<2"  # Required by better_launch (src/lib/better_launch)
 simpleeval = ">=1.0.3,<2"
 sphinx-rtd-theme = ">=3.0.2,<4"
 sysroot_linux-64 = ">=2.28,<3"

scripts/deploy/tasks/launch.py

@@ -152,7 +152,7 @@ def _check_tmux_session_already_running(self, connections: Group) -> GroupResult
     def _launch_teamplayer(self, connections: Group) -> GroupResult:
         print_debug("Launching teamplayer")
         # Create tmux session
-        cmd = f"tmux new-session -d -s {self._tmux_session_name} && tmux send-keys -t {self._tmux_session_name} 'cd {self._remote_workspace} && pixi run --environment robot ros2 launch bitbots_bringup teamplayer.launch record:=true tts:=false' Enter"
+        cmd = f"tmux new-session -d -s {self._tmux_session_name} && tmux send-keys -t {self._tmux_session_name} 'cd {self._remote_workspace} && pixi run --environment robot bl bitbots_bringup teamplayer.launch.py --record true --tts false' Enter"
 
         print_debug(f"Calling '{cmd}'")
         try:

scripts/ros.plugin.sh

@@ -46,8 +46,9 @@ setup_alises() {
 
   # ros aliases
   alias ros2='cdc && pixi run ros2'
+  alias bl='cdc && pixi run bl'
   alias rr='ros2 run'
-  alias rl='ros2 launch'
+  alias rl='bl'
 
   alias rte='ros2 topic echo'
   alias rtl='ros2 topic list'
@@ -81,8 +82,9 @@ setup_alises() {
 
     # ros aliases
     unalias ros2
+    unalias bl
     alias rr='ros2 run'
-    alias rl='ros2 launch'
+    alias rl='bl'
 
     alias rte='ros2 topic echo'
     alias rtl='ros2 topic list'

src/bitbots_behavior/bitbots_body_behavior/launch/behavior.launch.py

@@ -0,0 +1,26 @@
+#!/usr/bin/env python3
+from better_launch import BetterLaunch, launch_this
+
+
+@launch_this
+def behavior(dsd_file: str = "main.dsd", tf_prefix: str = "", sim: bool = False):
+    bl = BetterLaunch()
+
+    bl.node(
+        "bitbots_body_behavior",
+        "body_behavior",
+        "body_behavior",
+        params={
+            "dsd_file": dsd_file,
+            "actionlib_server_sub_queue_size": -1,
+            "odom_frame": f"{tf_prefix}odom",
+            "map_frame": f"{tf_prefix}map",
+            "base_footprint_frame": f"{tf_prefix}base_footprint",
+        },
+        param_files=[
+            bl.find("bitbots_body_behavior", "body_behavior.yaml", "config"),
+            bl.find("bitbots_body_behavior", "animations.yaml", "config"),
+        ],
+        use_sim_time=sim,
+        max_respawns=-1,
+    )

src/bitbots_behavior/bitbots_body_behavior/launch/behavior_standalone.launch.py

@@ -0,0 +1,29 @@
+#!/usr/bin/env python3
+from better_launch import BetterLaunch, launch_this
+
+
+@launch_this
+def behavior_standalone(sim: bool = False, dsd_file: str = "main.dsd"):
+    """
+    Parameters
+    ----------
+    dsd_file : str
+        The behavior dsd file that should be used
+    """
+    bl = BetterLaunch()
+
+    fieldname = "small_division_2026" if sim else "labor"
+
+    bl.include(
+        "bitbots_parameter_blackboard",
+        "parameter_blackboard.launch.py",
+        sim=sim,
+        fieldname=fieldname,
+    )
+
+    bl.include(
+        "bitbots_body_behavior",
+        "behavior.launch.py",
+        dsd_file=dsd_file,
+        sim=sim,
+    )

src/bitbots_behavior/bitbots_body_behavior/setup.py

@@ -12,7 +12,7 @@
         ("share/" + package_name, ["package.xml"]),
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
         ("share/" + package_name + "/config", glob.glob("config/*")),
-        ("share/" + package_name + "/launch", glob.glob("launch/*.launch")),
+        ("share/" + package_name + "/launch", glob.glob("launch/*.launch.py")),
     ],
     scripts=[],
     install_requires=[

src/bitbots_misc/bitbots_bringup/launch/audio.launch.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+from better_launch import BetterLaunch, launch_this
+
+
+@launch_this
+def audio(sample_rate: int = 48000):
+    """
+    Parameters
+    ----------
+    sample_rate : int
+        The sample_rate with which the audio should be captured. Our code currently is not
+        sample_rate agnostic, but this must be overwritable to start the audio_capturer_node
+        on some audio drivers/devices if they do not support the default sample_rate of 16000.
+    """
+    bl = BetterLaunch()
+    bl.node(
+        "audio_common",
+        "audio_capturer_node",
+        "audio_capturer_node",
+        params={"rate": sample_rate},
+    )

src/bitbots_misc/bitbots_bringup/launch/demo.launch.py

@@ -0,0 +1,28 @@
+#!/usr/bin/env python3
+from better_launch import BetterLaunch, launch_this
+
+
+@launch_this
+def demo(sim: bool = False, behavior_dsd_file: str = "demo.dsd"):
+    """
+    Parameters
+    ----------
+    sim : bool
+        Whether the robot is running in simulation or on real hardware
+    behavior_dsd_file : str
+        The behavior dsd file that should be used
+    """
+    bl = BetterLaunch()
+
+    # load teamplayer software stack without some unnecessary stuff, that is not needed in the demo
+    bl.include(
+        "bitbots_bringup",
+        "teamplayer.launch.py",
+        behavior_dsd_file=behavior_dsd_file,
+        fieldname="demo",
+        game_controller=False,
+        localization=False,
+        sim=sim,
+        teamcom=False,
+        path_planning=True,
+    )