Refactor Ignition launch files and spawners to share code #786
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# Conflicts: # subt_ign/launch/cave_circuit.ign # subt_ign/launch/tunnel_circuit_practice.ign # subt_ign/launch/urban_circuit.ign
Signed-off-by: Martin Pecka <[email protected]>
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Build finished. 21 tests run, 0 skipped, 1 failed. |
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This is a continuation of #759. In that PR I noticed how cumbersome and unreliable it is to add a change affecting all robots, e.g. a new plugin shared by all robots.
I was seeking for some kind of
<include>tag for ign-launch, which isn't yet supported for anything else than whole models. After discussion with @adlarkin, we concluded that it could be tackled from Ruby.Here's a partial PR on which I mainly want to agree whether the proposed changes are okay, and once they are approved, I can "spread them" to all files that could potentially benefit from them (all robot spawn scripts and some world launch files).
Basically, I created three Ruby library files which contain most of the logic that should rather be shared than copied all over the repository. My ruby-fu is not yet very mature, so please pay special attention to the library code (I learned something during preparation of the PR, but it was mainly bits and pieces).
I based this PR on top of #759 because it wouldn't make sense to start it off of master. So the changes as viewed in this PR are a bit mixed, and it's better to view the changelog at peci1/subt@peci1:dynamic_ground_truth_tf...peci1:ruby-refactor . That are just the changes proposed in this PR (7 changed files ATM).