testing script fixes

bitbots_team_communication/scripts/show_team_comm.py

@@ -105,7 +105,7 @@ def generate_string(self, data: TeamData):
         lines.append(f"  y: {round(data.ball_absolute.pose.position.y, 3):<4}")
         lines.append(f"  x_cov: {round(data.ball_absolute.covariance[0], 3):<4}")
         lines.append(f"  y_cov: {round(data.ball_absolute.covariance[7], 3):<4}")
-        lines.append(f"Obstacles found: {len(data.obstacles.obstacles)}")
+        lines.append(f"Robots found: {len(data.robots.robots)}")
         lines.append("Strategy")
         lines.append(f"  Role: {self.roles[data.strategy.role]:<9}")
         lines.append(f"  Action: {self.actions[data.strategy.action]:<15}")

bitbots_team_communication/scripts/test_team_comm.py

@@ -7,6 +7,7 @@
 import rclpy
 from game_controller_hl_interfaces.msg import GameState
 from geometry_msgs.msg import Point, Pose, PoseWithCovariance, PoseWithCovarianceStamped, Quaternion, TransformStamped
+from rclpy.qos import QoSDurabilityPolicy, QoSProfile
 from soccer_vision_3d_msgs.msg import Robot, RobotArray
 from soccer_vision_attribute_msgs.msg import Robot as RobotAttributes
 from tf2_ros import StaticTransformBroadcaster
@@ -51,7 +52,9 @@ def base_footprint_transform():
     node = rclpy.create_node("test_team_comm")
     tf_static_broadcaster = StaticTransformBroadcaster(node)
 
-    gamestate_pub = node.create_publisher(GameState, "gamestate", 1)
+    gamestate_pub = node.create_publisher(
+        GameState, "gamestate", qos_profile=QoSProfile(depth=1, durability=QoSDurabilityPolicy.TRANSIENT_LOCAL)
+    )
     strategy_pub = node.create_publisher(Strategy, "strategy", 1)
     ball_pub = node.create_publisher(PoseWithCovarianceStamped, "ball_position_relative_filtered", 1)
     position_pub = node.create_publisher(PoseWithCovarianceStamped, "pose_with_covariance", 1)

bitbots_team_communication/scripts/tmux_testing_setup.zsh

@@ -10,18 +10,16 @@ run_tmux_session() {
     tmux new-session -d -s "$session"
 
     # window/pane setup
-    tmux rename-window -t "$session:1" "Launch"
-    tmux new-window -t "$session:2" -n "Test"
+    tmux rename-window -t "$session:0" "Launch"
+    tmux new-window -t "$session:1" -n "Test"
     tmux split-window -h
-    tmux new-window -t "$session:3" -n "Base"
 
     # run required launch files in order
-    tmux send-keys -t "$session:Base" "rl bitbots_utils base.launch" Enter
-    tmux send-keys -t "$session:Launch" "rl bitbots_team_communication team_comm.launch" Enter
+    tmux send-keys -t "$session:Launch" "rl bitbots_team_communication team_comm_standalone.launch" Enter
 
     # start test publisher/subscriber
-    tmux send-keys -t "$session:Test.top" "rr bitbots_team_communication test_team_comm.py" Enter
-    tmux send-keys -t "$session:Test.bottom" "rr bitbots_team_communication show_team_comm.py" Enter
+    tmux send-keys -t "$session:Test.left" "rr bitbots_team_communication test_team_comm.py" Enter
+    tmux send-keys -t "$session:Test.right" "rr bitbots_team_communication show_team_comm.py" Enter
   fi
 
   tmux attach-session -t "$session:Test"
@@ -35,4 +33,5 @@ trap kill_session INT
 
 cd "$COLCON_WS"
 colcon build --symlink-install --packages-up-to "$pkg"
+source install/setup.zsh
 run_tmux_session