From 81beb1eeb9bf0f3cb1db35637135656414592612 Mon Sep 17 00:00:00 2001 From: osu_uwrt_bot Date: Sun, 28 Sep 2025 16:06:11 -0400 Subject: [PATCH 1/2] Remove separate uROS launch --- remote_launch/launches/talos_launch.yaml | 22 ++++++++++--------- .../launches/talos_launch_bench.yaml | 22 +++++++++---------- remote_launch/remote_launch/launcher.py | 1 + 3 files changed, 24 insertions(+), 21 deletions(-) diff --git a/remote_launch/launches/talos_launch.yaml b/remote_launch/launches/talos_launch.yaml index f8a5dec..6ca80d1 100644 --- a/remote_launch/launches/talos_launch.yaml +++ b/remote_launch/launches/talos_launch.yaml @@ -11,20 +11,22 @@ launches: [ topics: [ "/talos/dvl/status", "nortek_dvl_msgs/msg/DvlStatus", "0", "/talos/vectornav/imu", "sensor_msgs/msg/Imu", "0", - "/talos/gyro/raw", "riptide_msgs2/msg/Int32Stamped", "0" - ] - }, - { - package: "riptide_hardware2", - file: "copro_agent.launch.py", - args: [ - "robot:=talos", - ], - topics: [ + "/talos/gyro/raw", "riptide_msgs2/msg/Int32Stamped", "0", "/talos/state/firmware", "riptide_msgs2/msg/FirmwareStatus", "0", "/talos/state/depth/raw", "riptide_msgs2/msg/Depth", "0", ] }, + # { + # package: "riptide_hardware2", + # file: "copro_agent.launch.py", + # args: [ + # "robot:=talos", + # ], + # topics: [ + # "/talos/state/firmware", "riptide_msgs2/msg/FirmwareStatus", "0", + # "/talos/state/depth/raw", "riptide_msgs2/msg/Depth", "0", + # ] + # }, { package: "riptide_hardware2", file: "navigation.launch.py", diff --git a/remote_launch/launches/talos_launch_bench.yaml b/remote_launch/launches/talos_launch_bench.yaml index b6d889f..6f89831 100644 --- a/remote_launch/launches/talos_launch_bench.yaml +++ b/remote_launch/launches/talos_launch_bench.yaml @@ -16,17 +16,17 @@ launches: [ "/talos/gyro/raw", "riptide_msgs2/msg/Int32Stamped", "0", ] }, - { - package: "riptide_hardware2", - file: "copro_agent.launch.py", - args: [ - "robot:=talos", - ], - topics: [ - "/talos/state/firmware", "riptide_msgs2/msg/FirmwareStatus", "0", - "/talos/state/depth/raw", "riptide_msgs2/msg/Depth", "0", - ] - }, + # { + # package: "riptide_hardware2", + # file: "copro_agent.launch.py", + # args: [ + # "robot:=talos", + # ], + # topics: [ + # "/talos/state/firmware", "riptide_msgs2/msg/FirmwareStatus", "0", + # "/talos/state/depth/raw", "riptide_msgs2/msg/Depth", "0", + # ] + # }, { package: "riptide_hardware2", file: "navigation.launch.py", diff --git a/remote_launch/remote_launch/launcher.py b/remote_launch/remote_launch/launcher.py index 2eecfd4..46378cb 100644 --- a/remote_launch/remote_launch/launcher.py +++ b/remote_launch/remote_launch/launcher.py @@ -754,6 +754,7 @@ async def run_discovery_server(self): try: import subprocess subprocess.run(["pkill", "-f", "rmw_zenohd"], check=False, capture_output=True) + subprocess.run(["ros2", "daemon", "stop"], check=False, capture_output=True) await asyncio.sleep(1) # Give time for cleanup except: pass From 75037d6be3aaca73fcb84b9b63577b0e0c8a3ce9 Mon Sep 17 00:00:00 2001 From: osu-uwrt-bot2 Date: Sun, 28 Jun 2026 09:05:03 -0400 Subject: [PATCH 2/2] Diagnostics launch and yolo monitoring --- remote_launch/launches/talos_launch.yaml | 10 +++++++++- remote_launch/launches/talos_launch_bench.yaml | 12 +++++++++++- remote_launch/launches/talos_launch_sim_hil.yaml | 4 +++- 3 files changed, 23 insertions(+), 3 deletions(-) diff --git a/remote_launch/launches/talos_launch.yaml b/remote_launch/launches/talos_launch.yaml index 6ca80d1..4d15d0a 100644 --- a/remote_launch/launches/talos_launch.yaml +++ b/remote_launch/launches/talos_launch.yaml @@ -70,7 +70,7 @@ launches: [ "robot:=talos" ], topics: [ - "/talos/yolo", "sensor_msgs/msg/Image", "0" + "/talos/yolo_orientation/annotated/compressed", "sensor_msgs/msg/CompressedImage", "0" ] }, { @@ -88,5 +88,13 @@ launches: [ "robot:=talos" ], topics: [ ] + }, + { + package: "riptide_hardware2", + file: "diagnostics.launch.py", + args: [ + "robot:=talos" + ], + topics: [ ] } ] \ No newline at end of file diff --git a/remote_launch/launches/talos_launch_bench.yaml b/remote_launch/launches/talos_launch_bench.yaml index 6f89831..3e8928e 100644 --- a/remote_launch/launches/talos_launch_bench.yaml +++ b/remote_launch/launches/talos_launch_bench.yaml @@ -70,7 +70,9 @@ launches: [ args: [ "robot:=talos" ], - topics: [ ] + topics: [ + "/talos/yolo_orientation/annotated/compressed", "sensor_msgs/msg/CompressedImage", "0" + ] }, { package: "riptide_mapping2", @@ -87,5 +89,13 @@ launches: [ "robot:=talos" ], topics: [ ] + }, + { + package: "riptide_hardware2", + file: "diagnostics.launch.py", + args: [ + "robot:=talos" + ], + topics: [ ] } ] \ No newline at end of file diff --git a/remote_launch/launches/talos_launch_sim_hil.yaml b/remote_launch/launches/talos_launch_sim_hil.yaml index 737bc34..b69e782 100644 --- a/remote_launch/launches/talos_launch_sim_hil.yaml +++ b/remote_launch/launches/talos_launch_sim_hil.yaml @@ -31,7 +31,9 @@ launches: [ args: [ "robot:=talos" ], - topics: [ ] + topics: [ + "/talos/yolo_orientation/annotated/compressed", "sensor_msgs/msg/CompressedImage", "0" + ] }, { package: "riptide_mapping2",