312 organize and clean up existing code (#329)

* Remove unused files

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>

* Missing docs, but new working configuration management implementation of the launching of the platforms

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>

* Update docstrings, still need to rename certain functions

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>

* Add empty files in preparation for splitting up the robot.py file

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>

* Split robot.py into separate files and extract global methods and variables from the Platform class and place them in different files

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>

* Change name of file that describes its use better

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>

* Make global methods in platform.py specific to the Platform class since they are only used there, and remove the old robot.py file

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>

* Adjusted the code to pass the linting checks

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>

* Move class-specific functions to the corresponding classes

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>

* Generalise 'robot' to 'platform' where possible

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>

* Fix naming in URDFs

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>

* Rename package rcdt_messages to rcdt_interfaces to follow the classic ros2 naming standards more closely

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>

* Minor updates for the code after Jelmer's review

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>

* Move configuration context to EnvironmentConfig since that's accessible from everywhere, and change robots.launch.py to bringup.launch.py to follow ros2 naming standards more closely

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>

* Rename '.platform' to '.platform_type' to make the code easier to read

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>

* Update linting

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>

* Remove unused images from repo

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>

* Rename 'utils_conf' to 'utils_config'

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>

* Improve naming

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>

* Rename configuration files and add predefined configuration class

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>

* Update rcdt_test file structure

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>

* Move 'SKIP' to launch_utils and work through all remaining TODOs

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>

---------

Signed-off-by: Rosalie <rosalie.van.ark@alliander.com>

Author: rosalievanark

conftest.py

@@ -10,7 +10,7 @@
 import rclpy
 from _pytest.config import Config
 from _pytest.config.argparsing import Parser
-from rcdt_launch.robot import Platform
+from rcdt_utilities.launch_utils import reset
 from rclpy.node import Node
 
 
@@ -26,7 +26,7 @@ def pytest_addoption(parser: Parser) -> None:
 @pytest.fixture(scope="module", autouse=True)
 def reset_platform() -> None:
     """Fixture to automatically reset the platform configuration from a previous test module."""
-    Platform.reset()
+    reset()
 
 
 @pytest.fixture(scope="module")

dockerfiles/install_scripts/pyflow.sh

@@ -114,7 +114,7 @@ The file ends with the default test dependency and an export definition.
 
 ### Custom messages, services and actions
 
-We define custom messages, services and actions in our *rcdt_messages* package. This package has the following folder structure:
+We define custom messages, services and actions in our *rcdt_interfaces* package. This package has the following folder structure:
 
 ```text
 ros_package/

dockerfiles/install_scripts/rosboard.sh

@@ -97,7 +97,7 @@ From now on, when you open a new terminal, this alias is available and you can s
 You can now launch our system using:
 
 ```bash
-ros2 launch rcdt_launch robots.launch.py
+ros2 launch rcdt_launch bringup.launch.py
 ```
 
 Note that the system won't start if no configuration is provided. The possible launch arguments can be acquired by adding the `-s` flag. More information about launching the system and selecting a configuration can be found on the [](system) page.