Description

• This is a python program that allows you to generate multi-robot rviz files from a perRobot.rviz file, main.rviz, and a robotNames.txt.
• Outputs a file that was written from the combination of those 3 files.

• *Synopsis:
  • Inputs:
    • PerRobot.rviz: Has a $robot in the file in order for the program to find and replace this with a robotName and put it all under "Displays" (behind "Enabled: true Global Options: ...)
    • Main.rviz: Everything else an rviz file will need
    • RobotNames.txt: List all the names of robots. Seperated by newlines.
  • Output:
    • OutputFile.rviz: The output file that you run in rviz.

NOTE: The PerRobot.rviz needs to be tabbed in a specific way (ex: perRobot.rviz if need to see the format)

# Running FinalMain.py

• w/o optional:

  python3 FinalMain.py (main_file).rviz (Robot_Names).txt (per_Robot).rviz
  

• w/ optional

  python3 FinalMain.py (main_file).rviz (Robot_Names).txt (per_Robot).rviz --out (output_file).rviz
  

• Notes:
  • Default = OutputFile.rviz
  • PerRobot template file (find and replaces $robot in the file)

Groups template

- Class: rviz/Group
  Displays:
    - Class: rviz/Marker
      Enabled: true
      Marker Topic: /$robot/robot_marker
      Name: Marker
      Namespaces:
        {}
      Queue Size: 100
      Value: true
    - Class: rviz/InteractiveMarkers
      Enable Transparency: true
      Enabled: true
      Name: InteractiveMarkers
      Show Axes: false
      Show Descriptions: true
      Show Visual Aids: false
      Update Topic: /rviz/team_behavior_graph/update
      Value: true
  Enabled: true
  Name: $robot