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barulicmbarulicm
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Adds auto-configure for sim GC
1 parent 4406c35 commit 7f178b3

5 files changed

Lines changed: 204 additions & 1 deletion

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‎ateam_bringup/ateam_bringup/actions/__init__.py‎

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# Copyright 2026 A Team
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#
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# Permission is hereby granted, free of charge, to any person obtaining a copy
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# of this software and associated documentation files (the "Software"), to deal
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# in the Software without restriction, including without limitation the rights
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# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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# copies of the Software, and to permit persons to whom the Software is
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# furnished to do so, subject to the following conditions:
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#
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# The above copyright notice and this permission notice shall be included in
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# all copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
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# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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# THE SOFTWARE.
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from .change_game_contoller_config import ChangeGameControllerConfig
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from .change_game_controller_team_name import ChangeGameControllerTeamName
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__all__ = [
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'ChangeGameControllerConfig',
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'ChangeGameControllerTeamName'
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]

‎ateam_bringup/ateam_bringup/actions/change_game_contoller_config.py‎

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# Copyright 2026 A Team
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#
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# Permission is hereby granted, free of charge, to any person obtaining a copy
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# of this software and associated documentation files (the "Software"), to deal
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# in the Software without restriction, including without limitation the rights
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# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
7+
# copies of the Software, and to permit persons to whom the Software is
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# furnished to do so, subject to the following conditions:
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#
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# The above copyright notice and this permission notice shall be included in
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# all copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
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# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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# THE SOFTWARE.
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import launch
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from launch.some_substitutions_type import SomeSubstitutionsType
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from launch import LaunchContext, Substitution
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from launch.actions import OpaqueCoroutine
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from launch.utilities import normalize_to_list_of_substitutions
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from typing import Mapping, Union, Any
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import asyncio
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import json
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import websockets
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class ChangeGameControllerConfig(OpaqueCoroutine):
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"""Action that sends config delta commands to the GC API"""
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def __init__(self, configs: Mapping[Union[Substitution, str], Any], gc_address: SomeSubstitutionsType) -> None:
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"""Initialize the action."""
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super().__init__(coroutine=self.my_coroutine)
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self.__configs = configs
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self.__gc_address = normalize_to_list_of_substitutions(gc_address)
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async def my_coroutine(self, context: LaunchContext, *args, **kwargs):
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gc_address = context.perform_substitution(self.__gc_address[0])
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config_delta = {}
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for k, v in self.__configs.items():
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if isinstance(k, Substitution):
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key = context.perform_substitution(k)
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else:
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key = k
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if isinstance(v, Substitution):
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value = context.perform_substitution(v)
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else:
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value = v
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config_delta[key] = value
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await self.send_json_payload(gc_address, config_delta)
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async def send_json_payload(self, address: str, configs: Mapping[str, str]):
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payload = {
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'config_delta': configs
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}
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server_url = f'ws://{address}:8081/api/control'
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while True:
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try:
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async with websockets.connect(server_url) as ws:
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await ws.send(json.dumps(payload))
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# await ws.recv()
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break
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except ConnectionRefusedError:
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continue

‎ateam_bringup/ateam_bringup/actions/change_game_controller_team_name.py‎

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# Copyright 2026 A Team
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#
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# Permission is hereby granted, free of charge, to any person obtaining a copy
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# of this software and associated documentation files (the "Software"), to deal
5+
# in the Software without restriction, including without limitation the rights
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# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
7+
# copies of the Software, and to permit persons to whom the Software is
8+
# furnished to do so, subject to the following conditions:
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#
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# The above copyright notice and this permission notice shall be included in
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# all copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
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# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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# THE SOFTWARE.
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import launch
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from launch.some_substitutions_type import SomeSubstitutionsType
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from launch import LaunchContext, Substitution
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from launch.actions import OpaqueCoroutine
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from launch.utilities import normalize_to_list_of_substitutions
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from typing import Mapping, Union, Any
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import asyncio
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import json
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import websockets
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class ChangeGameControllerTeamName(OpaqueCoroutine):
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"""Action that sends config delta commands to the GC API"""
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def __init__(self, color: Union[Substitution, str], name: Union[Substitution, str], gc_address: SomeSubstitutionsType) -> None:
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"""Initialize the action."""
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super().__init__(coroutine=self.my_coroutine)
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self.__color = color
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self.__team_name = name
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self.__gc_address = normalize_to_list_of_substitutions(gc_address)
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async def my_coroutine(self, context: LaunchContext, *args, **kwargs):
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gc_address = context.perform_substitution(self.__gc_address[0])
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color = ''
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if isinstance(self.__color, Substitution):
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color = context.perform_substitution(self.__color)
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else:
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color = self.__color
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color = color.upper()
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team_name = ''
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if isinstance(self.__team_name, Substitution):
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team_name = context.perform_substitution(self.__team_name)
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else:
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team_name = self.__team_name
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launch.logging.get_logger().info(f'Color: {color} Name: {team_name}')
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await self.send_json_payload(gc_address, color, team_name)
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async def send_json_payload(self, address: str, color: str, name: str):
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payload = {
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'change': {
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'origin': 'UI',
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'revertible': True,
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'update_team_state_change': {
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'for_team': color,
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'team_name': name
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}
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}
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}
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server_url = f'ws://{address}:8081/api/control'
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launch.logging.get_logger().info(f'Sending: {json.dumps(payload)}')
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while True:
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try:
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async with websockets.connect(server_url) as ws:
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await ws.send(json.dumps(payload))
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# await ws.recv()
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break
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except ConnectionRefusedError:
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continue

‎ateam_bringup/launch/bringup_simulation.launch.py‎

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PackageLaunchFileSubstitution
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)
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import launch
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, LogInfo
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, LogInfo, GroupAction
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from launch.conditions import IfCondition, UnlessCondition
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from launch.launch_description_sources import FrontendLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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from ateam_bringup.actions import ChangeGameControllerTeamName, ChangeGameControllerConfig
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def generate_launch_description():
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DeclareLaunchArgument('gc_ip', default_value='172.17.0.2'),
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DeclareLaunchArgument('team_name', default_value='A-Team'),
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DeclareLaunchArgument('no_kenobi', default_value='False'),
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DeclareLaunchArgument('blue_team', default_value='A-Team'),
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DeclareLaunchArgument('yellow_team', default_value='RoboJackets'),
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IncludeLaunchDescription(
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FrontendLaunchDescriptionSource(
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condition=IfCondition(LaunchConfiguration('start_sim'))
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),
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GroupAction(
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actions=[
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IncludeLaunchDescription(
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FrontendLaunchDescriptionSource(
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PackageLaunchFileSubstitution('ateam_bringup',
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'ssl_game_controller.launch.xml'))
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),
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ChangeGameControllerConfig(gc_address='172.17.0.2', configs={
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'autoContinue': False
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}),
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ChangeGameControllerTeamName(
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gc_address='172.17.0.2', color='blue', name=LaunchConfiguration('blue_team')),
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ChangeGameControllerTeamName(
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gc_address='172.17.0.2', color='yellow', name=LaunchConfiguration('yellow_team')),
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],
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condition=IfCondition(LaunchConfiguration('start_gc'))
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),
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IncludeLaunchDescription(
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FrontendLaunchDescriptionSource(
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PackageLaunchFileSubstitution('ateam_bringup',

‎ateam_bringup/package.xml‎

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<exec_depend>docker.io</exec_depend>
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<depend>python3-websockets</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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