update launch file

IntelLabs · Oct 1, 2024 · 8154a1e · 8154a1e
1 parent 27eccfe
commit 8154a1e
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Showing 3 changed files with 15 additions and 6 deletions.
diff --git a/docs/how_to_run.rst b/docs/how_to_run.rst
@@ -243,23 +243,29 @@ Override scenario parameters
 
 To override scenario parameters, specify the required parameters within a yaml file and use the command-line parameter ``--scenario-parameter-file``.
 
-Let's look at the following example scenario ``my_scenario.osc`` with the parameter ``my_param``. 
+Let's look at the following example scenario ``my_scenario.osc`` with the parameter ``my_base_param`` and ``my_struct_param``. 
 
 .. code-block::
 
     import osc.helpers
 
     scenario my_scenario:
-        my_param: string = "default value"
+        my_base_param: string = "default value"
+        my_struct_param: position_3d
         do serial:
-            log(my_param)
+            log(my_base_param)
+            log(my_struct_param)
 
 To override the parameter, the following yaml file ``overrides.yaml`` can be used.
 
 .. code-block:: yaml
 
    my_scenario:
-     my_param: "my_val"
+     my_base_param: "my_val"
+     my_struct_param:
+       x: 1.0
+       y: 2.0
+       z: 0.0
 
 The following command executes the scenario with the defined override.
 

diff --git a/scenario_execution/scenario_execution/model/model_file_loader.py b/scenario_execution/scenario_execution/model/model_file_loader.py
@@ -26,7 +26,7 @@ class ModelFileLoader(object):
     def __init__(self, logger) -> None:
         self.logger = logger
 
-    def process_file(self, file_name, log_tree: bool = False, debug: bool = False, _ = None):
+    def process_file(self, file_name, log_tree: bool = False, debug: bool = False, _=None):
         model = self.load_file(file_name, log_tree)
         tree = py_trees.composites.Sequence(name="", memory=True)
         resolve_internal_model(model, tree, self.logger, log_tree)

diff --git a/scenario_execution_ros/launch/scenario_launch.py b/scenario_execution_ros/launch/scenario_launch.py
@@ -33,6 +33,7 @@ def generate_launch_description():
     scenario_execution = LaunchConfiguration('scenario_execution')
     scenario_status = LaunchConfiguration('scenario_status')
     output_dir = LaunchConfiguration('output_dir')
+    scenario_parameter_file = LaunchConfiguration('scenario_parameter_file')
 
     return LaunchDescription([
         DeclareLaunchArgument('scenario', description='Scenario file to execute'),
@@ -48,6 +49,7 @@ def generate_launch_description():
         DeclareLaunchArgument('log_level', default_value='info',
                               description='Log level for scenario execution'),
         DeclareLaunchArgument('output_dir', description='Output directory', default_value=''),
+        DeclareLaunchArgument('scenario_parameter_file', description='Yaml file specifying scenario parameter overrides', default_value=''),
 
         Node(
             condition=IfCondition(scenario_execution),
@@ -63,7 +65,8 @@ def generate_launch_description():
                 'live_tree': live_tree,
                 'log_model': log_model,
                 'output_dir': output_dir,
-                'scenario': scenario
+                'scenario': scenario,
+                'scenario_parameter_file': scenario_parameter_file
             }],
             on_exit=Shutdown()),