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[WIP] update dummy client message format #202

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[WIP] update dummy client message format #202

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98fbfbd
update dummyclient (working)
Apolo151 Apr 3, 2025
07bb90a
Merge branch 'JdeRobot:humble-devel' into humble-devel
Apolo151 Apr 11, 2025
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5 changes: 3 additions & 2 deletions manager/libs/launch_world_model.py
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This file cannot be changed

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The model in this file does not match the expected format by the on_launch_world function in the manager.
Since this file cannot be changed, would you suggest updating the on_launch_world function to match the stated model in this file?
@javizqh

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There is no need to change anything related to this. The only obligatory features are the world and the launch_file_path that must be both strings

Original file line number Diff line number Diff line change
@@ -1,12 +1,13 @@
from dataclasses import dataclass
from typing import Optional
from typing import Optional, Union
from pydantic import BaseModel, ValidationError

# Clase de configuración utilizando Pydantic para validación


class ConfigurationModel(BaseModel):
world: str
world: Union[str, dict]
robot: Optional[Union[str, dict]] = None
launch_file_path: str

# Definición de la clase de datos
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17 changes: 15 additions & 2 deletions test/dummyclient.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,14 +15,27 @@ class LaunchWorldCmd(ManagerConsumerMessage):
id: str = '2'
command: str = 'launch_world'
data: ConfigurationModel = ConfigurationModel(
world='gazebo',
world = {
"world": "gazebo",
"robot": "rae",
"launch_file_path":'/opt/jderobot/Launchers/simple_circuit_followingcam.launch.py'
},
robot = {
"world": "gazebo",
"robot": "rae",
"start_pose": [0.0, 0.0, 0.05, 0.0, 0.0, 0.0], # [x, y, z, roll, pitch, yaw],
"launch_file_path":'/opt/jderobot/Launchers/simple_circuit_followingcam.launch.py'
},
launch_file_path='/opt/jderobot/Launchers/simple_circuit_followingcam.launch.py')


class LaunchPrepareViz(ManagerConsumerMessage):
id: str = '3'
command: str = 'prepare_visualization'
data: str = 'gazebo_rae'
data: str = {
"type": 'gazebo_rae',
"file": None
}

websocket.enableTrace(True)
ws = websocket.create_connection("ws://localhost:7163")
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