Migrate ROS2 launch files to better_launch

.rsyncignore

@@ -24,5 +24,6 @@ __pycache__
 # Don't sync the simulation environments
 src/bitbots_simulation/bitbots_mujoco_sim/
 
-# Don't sync the build bitbots_rust_nav target directory
-src/bitbots_navigation/bitbots_rust_nav/target
+# Don't sync the rust build target directory
+target/
+src/bitbots_navigation/bitbots_rust_nav/target/

.vscode/settings.json

@@ -266,6 +266,8 @@
         "install/bitbots_msgs/lib/python3.12/site-packages",
         "build/bitbots_ball_filter",
         "install/bitbots_ball_filter/lib/python3.12/site-packages",
+        "build/better_launch",
+        "install/better_launch/lib/python3.12/site-packages",
         ".pixi/envs/default/lib/python/site-packages",
         ".pixi/envs/default/lib/python3.12/site-packages",
     ],
@@ -302,6 +304,8 @@
         "install/bitbots_msgs/lib/python3.12/site-packages",
         "build/bitbots_ball_filter",
         "install/bitbots_ball_filter/lib/python3.12/site-packages",
+        "build/better_launch",
+        "install/better_launch/lib/python3.12/site-packages",
         ".pixi/envs/default/lib/python/site-packages",
         ".pixi/envs/default/lib/python3.12/site-packages",
     ],

pixi.toml

@@ -49,10 +49,12 @@ alsa-plugins = ">=1.2.12,<2"
 beartype = ">=0.22.6,<0.23"
 breathe = ">=4.36.0,<5"
 cbor2 = ">=5.9.0,<6"
+click = ">=8.4.2,<9"  # Required by better_launch (src/lib/better_launch)
 cmake = "<3.30"  # Constraint to avoid issues with deprecated features in newer cmake versions
 colorama = ">=0.4.6,<0.5"
 compilers = ">=1.11.0,<2"
 construct = ">=2.10.70,<3"
+docstring_parser = ">=0.18.0,<0.19"  # Required by better_launch (src/lib/better_launch)
 eigen = ">=3.4.0,<4"
 fabric = ">=3.2.2,<4"
 flask = ">=3.1.2,<4"
@@ -74,10 +76,12 @@ ninja = ">=1.13.2,<2"
 numpy = ">=1.26.4,<2"
 nvidia-ml-py = ">=13.595.45,<14"
 opencv = ">=4.11.0,<5"
+osrf_pycommon = ">=0.2.1,<0.3"  # Required by better_launch (src/lib/better_launch)
 paramiko =   ">=4.0.0,<5"
 pkg-config = ">=0.29.2,<0.30"
 playsound = ">=1.3.0,<2"
 portaudio = ">=19.7.0,<20"
+prompt_toolkit = ">=3.0.52,<4"  # Required by better_launch (src/lib/better_launch)
 protobuf = ">=6.31.1,<7"
 psutil = ">=7.1.3,<8"
 pthread-stubs = ">=0.4,<0.5"
@@ -92,6 +96,7 @@ rospkg = ">=1.6.0,<2"
 rsync = ">=3.4.3,<4"
 ruff = ">=0.14.6,<0.15"
 scipy = ">=1.17.1,<2"
+setproctitle = ">=1.3.7,<2"  # Required by better_launch (src/lib/better_launch)
 simpleeval = ">=1.0.3,<2"
 sphinx-rtd-theme = ">=3.0.2,<4"
 sysroot_linux-64 = ">=2.28,<3"

scripts/deploy/tasks/launch.py

@@ -152,7 +152,7 @@ def _check_tmux_session_already_running(self, connections: Group) -> GroupResult
     def _launch_teamplayer(self, connections: Group) -> GroupResult:
         print_debug("Launching teamplayer")
         # Create tmux session
-        cmd = f"tmux new-session -d -s {self._tmux_session_name} && tmux send-keys -t {self._tmux_session_name} 'cd {self._remote_workspace} && pixi run --environment robot ros2 launch bitbots_bringup teamplayer.launch record:=true tts:=false' Enter"
+        cmd = f"tmux new-session -d -s {self._tmux_session_name} && tmux send-keys -t {self._tmux_session_name} 'cd {self._remote_workspace} && pixi run --environment robot bl bitbots_bringup teamplayer.launch.py --record true --tts false' Enter"
 
         print_debug(f"Calling '{cmd}'")
         try:

scripts/ros.plugin.sh

@@ -46,8 +46,9 @@ setup_alises() {
 
   # ros aliases
   alias ros2='cdc && pixi run ros2'
+  alias bl='cdc && pixi run bl'
   alias rr='ros2 run'
-  alias rl='ros2 launch'
+  alias rl='bl'
 
   alias rte='ros2 topic echo'
   alias rtl='ros2 topic list'
@@ -81,8 +82,9 @@ setup_alises() {
 
     # ros aliases
     unalias ros2
+    unalias bl
     alias rr='ros2 run'
-    alias rl='ros2 launch'
+    alias rl='bl'
 
     alias rte='ros2 topic echo'
     alias rtl='ros2 topic list'

src/bitbots_behavior/bitbots_blackboard/test/visualize_get_ball_goal.py

@@ -33,6 +33,7 @@
 import os
 from dataclasses import dataclass
 from pathlib import Path
+from typing import TYPE_CHECKING, cast
 
 import matplotlib.image as mpimg
 import matplotlib.pyplot as plt
@@ -42,6 +43,9 @@
 from ros2_numpy import numpify
 from tf_transformations import euler_from_quaternion
 
+if TYPE_CHECKING:
+    from bitbots_blackboard.body_blackboard import BodyBlackboard
+
 # --------------------------------------------------------------------------- #
 # Field / behavior parameters (mirrors config, so no ROS param server needed). #
 # --------------------------------------------------------------------------- #
@@ -171,7 +175,7 @@ def __init__(self, robot: Pose, ball: Pose):
 def make_capsule(robot: Pose, ball: Pose) -> PathfindingCapsule:
     """Build the real capsule without running __init__ (which needs a ROS node)."""
     capsule = PathfindingCapsule.__new__(PathfindingCapsule)
-    capsule._blackboard = FakeBlackboard(robot, ball)
+    capsule._blackboard = cast("BodyBlackboard", FakeBlackboard(robot, ball))
     return capsule
 
 
@@ -211,7 +215,7 @@ def __init__(self):
         self.ax.set_ylabel("y (down)")
 
         # Radio buttons to pick the target type.
-        rax = self.fig.add_axes([0.01, 0.5, 0.15, 0.18])
+        rax = self.fig.add_axes((0.01, 0.5, 0.15, 0.18))
         self._targets = list(BallGoalType)
         self.radio = RadioButtons(rax, [t.value for t in self._targets], active=self._targets.index(self.target))
         self.radio.on_clicked(self._on_target)

src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/actions/kick_ball.py

@@ -68,3 +68,20 @@ def perform(self, reevaluate=False):
 
         if not self.blackboard.kick.is_currently_kicking:
             self.pop()
+
+
+class RLKickAngleRobot(AbstractKickAction):
+    def __init__(self, blackboard, dsd, parameters):
+        super().__init__(blackboard, dsd, parameters)
+        self._strength = parameters.get("strength", 2.0)
+        self._angle_deg_in_map = parameters.get("angle_deg_in_map", 0.0)
+        self._start_time = None
+
+    def perform(self, reevaluate=False):
+        # transform map to robot relative
+        if self._start_time is None:
+            self._start_time = self.blackboard.node.get_clock().now()
+            self.blackboard.kick.start_rl_kick(self._angle_deg_in_map, self._strength)
+
+        if not self.blackboard.kick.is_currently_kicking:
+            self.pop()

src/bitbots_behavior/bitbots_body_behavior/bitbots_body_behavior/behavior_dsd/main.dsd

@@ -34,11 +34,11 @@ $DoOnce
 $KickOrDribble + map_goal_distance:%ball_approach_dist // should be same as below $GoToBall + target:map action
     KICK --> $DoOnce
         NOT_DONE --> @ChangeAction + action:going_to_ball, @LookAtFieldFeatures, @GoToBall + target:rl_kick + blocking:false
-        DONE --> $ReachedAndAlignedToPathPlanningGoalPosition + threshold:%rl_kick_approach_tolerance_pos + orientation_threshold:%rl_kick_approach_tolerance_rad + latch:true
+        DONE --> $ReachedAndAlignedToPathPlanningGoalPosition + threshold:%rl_kick_approach_tolerance_pos + orientation_threshold:%rl_kick_approach_tolerance_deg + latch:true
             NO --> @ChangeAction + action:going_to_ball, @LookAtFieldFeatures, @GoToBall + target:rl_kick
             YES --> $DoOnce
                 NOT_DONE --> @StoreBallMovementDetectionStartPosition
-                DONE --> @ChangeAction + action:kicking, @Stand + duration:0.1 + r:false, @LookAtBallPenalty + r:false, @RLKickTowardsGoal + strength:3.5 + r:false, @ForgetBall
+                DONE --> @ChangeAction + action:kicking, @Stand + duration:0.1 + r:false, @LookAtBallPenalty + r:false, @RLKickTowardsGoal + strength:3.0 + r:false, @ForgetBall
     DRIBBLE --> $AvoidBall // old behavior before kick when we want to kick the ball in
         NO --> $BallClose + distance:%ball_reapproach_dist + angle:%ball_reapproach_angle
             YES --> $BallKickArea
@@ -88,7 +88,7 @@ $GoalieActive
 
 #PenaltyShootoutBehavior
 $SecondaryStateTeamDecider
-    OUR --> @StandAndWaitRandom + min:10 + max:25, @ChangeAction + action:kicking, @LookAtFieldFeatures, @WalkInPlace + duration:2, @RLKick + duration:3 + r:false, @WalkInPlace + duration:1 + r:false, @Stand
+    OUR --> @StandAndWaitRandom + min:10 + max:25, @ChangeAction + action:kicking, @LookAtFieldFeatures, @WalkInPlace + duration:2, @RLKickAngleRobot + angle_deg_in_map:30.0 + strength:3.0 + r:false, @WalkInPlace + duration:1 + r:false, @Stand
     ELSE --> $BallDangerous + radius:1.3
         LEFT --> @PlayAnimationGoalieFallLeft, @Stand
         RIGHT --> @PlayAnimationGoalieFallRight, @Stand
@@ -180,7 +180,7 @@ $IsPenalized
                 ELSE --> #PlayingBehavior
             NOT_DETECTED --> $SecondaryStateDecider
                 PENALTYSHOOT --> $SecondaryStateTeamDecider
-                    OUR --> @Stand + duration:0.1 + r:false, @DeactivateHCM + r:false, @LookForward + r:false, @Stand // we need to also see the goalie
+                    OUR --> @Stand + duration:5.0 + r:false, @LookForward + r:false, @RLKickAngleRobot + angle_deg_in_map:30.0 + strength:3.0 + r:false, @Stand
                     OTHER --> $BallSeen
                         YES --> @Stand + duration:0.1 + r:false, @DeactivateHCM + r:false, @LookForward + r:false, @TrackBall + r:false, @PlayAnimationGoalieArms + r:false, @Stand // goalie only needs to care about the ball
                         NO --> @Stand + duration:0.1 + r:false, @DeactivateHCM + r:false, @LookForward + r:false, @LookAtFieldFeatures + r:false, @PlayAnimationGoalieArms + r:false, @Stand

src/bitbots_behavior/bitbots_body_behavior/config/body_behavior.yaml

@@ -153,18 +153,16 @@ body_behavior:
 
     kick_decision_smoothing: 10.0
 
-
-    rl_kick_approach_tolerance_pos: 0.25
-    rl_kick_approach_tolerance_rad: 0.4
+    rl_kick_approach_tolerance_pos: 0.12
+    rl_kick_approach_tolerance_deg: 20.0
 
     rl_kick:
-      timeout: 2.0 # how long the kick policy is active
-      approach_dist: 0.5  # distance from the ball to the approach point on the arc
-      approach_arc_half_degree: 100.0 # half opening angle (in degrees) of the arc around the point opposite the kick direction
-      goal_line_offset: 0.25 # distance beyond the goal line used for the left/right kick target points
-      kick_target_y_offset: 0.5 # inset (in y) from the goal posts used for the left/right kick target points
+      timeout: 2.0  # how long the kick policy is active
+      approach_dist: 0.6  # distance from the ball to the approach point on the arc
+      approach_arc_half_degree: 60.0  # half opening angle (in degrees) of the arc around the point opposite the kick direction
+      goal_line_offset: 0.25  # distance beyond the goal line used for the left/right kick target points
       goal_kick_dir_inset: 0.5
-      max_approach_angle_deg: 60
+      max_approach_angle_deg: 90
 
     ##################
     # costmap params #

src/bitbots_behavior/bitbots_body_behavior/launch/behavior.launch.py

@@ -0,0 +1,26 @@
+#!/usr/bin/env python3
+from better_launch import BetterLaunch, launch_this
+
+
+@launch_this
+def behavior(dsd_file: str = "main.dsd", tf_prefix: str = "", sim: bool = False):
+    bl = BetterLaunch()
+
+    bl.node(
+        "bitbots_body_behavior",
+        "body_behavior",
+        "body_behavior",
+        params={
+            "dsd_file": dsd_file,
+            "actionlib_server_sub_queue_size": -1,
+            "odom_frame": f"{tf_prefix}odom",
+            "map_frame": f"{tf_prefix}map",
+            "base_footprint_frame": f"{tf_prefix}base_footprint",
+        },
+        param_files=[
+            bl.find("bitbots_body_behavior", "body_behavior.yaml", "config"),
+            bl.find("bitbots_body_behavior", "animations.yaml", "config"),
+        ],
+        use_sim_time=sim,
+        max_respawns=-1,
+    )

src/bitbots_behavior/bitbots_body_behavior/launch/behavior_standalone.launch.py

@@ -0,0 +1,29 @@
+#!/usr/bin/env python3
+from better_launch import BetterLaunch, launch_this
+
+
+@launch_this
+def behavior_standalone(sim: bool = False, dsd_file: str = "main.dsd"):
+    """
+    Parameters
+    ----------
+    dsd_file : str
+        The behavior dsd file that should be used
+    """
+    bl = BetterLaunch()
+
+    fieldname = "small_division_2026" if sim else "labor"
+
+    bl.include(
+        "bitbots_parameter_blackboard",
+        "parameter_blackboard.launch.py",
+        sim=sim,
+        fieldname=fieldname,
+    )
+
+    bl.include(
+        "bitbots_body_behavior",
+        "behavior.launch.py",
+        dsd_file=dsd_file,
+        sim=sim,
+    )

src/bitbots_behavior/bitbots_body_behavior/setup.py

@@ -12,7 +12,7 @@
         ("share/" + package_name, ["package.xml"]),
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
         ("share/" + package_name + "/config", glob.glob("config/*")),
-        ("share/" + package_name + "/launch", glob.glob("launch/*.launch")),
+        ("share/" + package_name + "/launch", glob.glob("launch/*.launch.py")),
     ],
     scripts=[],
     install_requires=[

src/bitbots_misc/bitbots_bringup/launch/audio.launch.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+from better_launch import BetterLaunch, launch_this
+
+
+@launch_this
+def audio(sample_rate: int = 48000):
+    """
+    Parameters
+    ----------
+    sample_rate : int
+        The sample_rate with which the audio should be captured. Our code currently is not
+        sample_rate agnostic, but this must be overwritable to start the audio_capturer_node
+        on some audio drivers/devices if they do not support the default sample_rate of 16000.
+    """
+    bl = BetterLaunch()
+    bl.node(
+        "audio_common",
+        "audio_capturer_node",
+        "audio_capturer_node",
+        params={"rate": sample_rate},
+    )

src/bitbots_misc/bitbots_bringup/launch/demo.launch.py

@@ -0,0 +1,28 @@
+#!/usr/bin/env python3
+from better_launch import BetterLaunch, launch_this
+
+
+@launch_this
+def demo(sim: bool = False, behavior_dsd_file: str = "demo.dsd"):
+    """
+    Parameters
+    ----------
+    sim : bool
+        Whether the robot is running in simulation or on real hardware
+    behavior_dsd_file : str
+        The behavior dsd file that should be used
+    """
+    bl = BetterLaunch()
+
+    # load teamplayer software stack without some unnecessary stuff, that is not needed in the demo
+    bl.include(
+        "bitbots_bringup",
+        "teamplayer.launch.py",
+        behavior_dsd_file=behavior_dsd_file,
+        fieldname="demo",
+        game_controller=False,
+        localization=False,
+        sim=sim,
+        teamcom=False,
+        path_planning=True,
+    )