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Pre-comp dev merge #21

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Pre-comp dev merge #21

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81beb1e
Remove separate uROS launch
osu-uwrt-bot2 Sep 28, 2025
75037d6
Diagnostics launch and yolo monitoring
osu-uwrt-bot2 Jun 28, 2026
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32 changes: 21 additions & 11 deletions remote_launch/launches/talos_launch.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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",
Expand Down Expand Up @@ -68,7 +70,7 @@ launches: [
"robot:=talos"
],
topics: [
"/talos/yolo", "sensor_msgs/msg/Image", "0"
"/talos/yolo_orientation/annotated/compressed", "sensor_msgs/msg/CompressedImage", "0"
]
},
{
Expand All @@ -86,5 +88,13 @@ launches: [
"robot:=talos"
],
topics: [ ]
},
{
package: "riptide_hardware2",
file: "diagnostics.launch.py",
args: [
"robot:=talos"
],
topics: [ ]
}
]
34 changes: 22 additions & 12 deletions remote_launch/launches/talos_launch_bench.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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",
Expand Down Expand Up @@ -70,7 +70,9 @@ launches: [
args: [
"robot:=talos"
],
topics: [ ]
topics: [
"/talos/yolo_orientation/annotated/compressed", "sensor_msgs/msg/CompressedImage", "0"
]
},
{
package: "riptide_mapping2",
Expand All @@ -87,5 +89,13 @@ launches: [
"robot:=talos"
],
topics: [ ]
},
{
package: "riptide_hardware2",
file: "diagnostics.launch.py",
args: [
"robot:=talos"
],
topics: [ ]
}
]
4 changes: 3 additions & 1 deletion remote_launch/launches/talos_launch_sim_hil.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,9 @@ launches: [
args: [
"robot:=talos"
],
topics: [ ]
topics: [
"/talos/yolo_orientation/annotated/compressed", "sensor_msgs/msg/CompressedImage", "0"
]
},
{
package: "riptide_mapping2",
Expand Down
1 change: 1 addition & 0 deletions remote_launch/remote_launch/launcher.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down