replaced old bitbots_rl_motion with bitbots_rl_walk

Author: sWintermoor

src/bitbots_misc/bitbots_bringup/launch/motion.launch

@@ -50,7 +50,7 @@
 
     <!-- launch the rl walking 
     <group if="$(var walking)">
-        <node pkg="bitbots_rl_walk" exec="walk" output="screen">
+        <node pkg="bitbots_rl_motion" exec="walk" output="screen">
             <param name="use_sim_time" value="$(var sim)"/>
         </node>
     </group>
@@ -70,7 +70,7 @@
 
     <!-- launch the rl kick -->
     <group if="$(var kicking)">
-        <node pkg="bitbots_rl_walk" exec="forward_kick" output="screen">
+        <node pkg="bitbots_rl_motion" exec="forward_kick" output="screen">
             <param name="use_sim_time" value="$(var sim)"/>
         </node>
     </group>

src/bitbots_misc/bitbots_bringup/package.xml

@@ -28,7 +28,7 @@
     <exec_depend>bitbots_localization</exec_depend>
     <exec_depend>bitbots_odometry</exec_depend>
     <exec_depend>bitbots_quintic_walk</exec_depend>
-    <exec_depend>bitbots_rl_walk</exec_depend>
+    <exec_depend>bitbots_rl_motion</exec_depend>
     <exec_depend>bitbots_robot_description</exec_depend>
     <exec_depend>bitbots_ros_control</exec_depend>
     <exec_depend>bitbots_utils</exec_depend>

src/bitbots_motion/bitbots_rl_motion/CMakeLists.txt

@@ -31,7 +31,7 @@
 from bitbots_msgs.msg import JointCommand
 
 ONNX_MODEL = os.path.join(
-    get_package_share_directory("bitbots_rl_walk"), "models", "wolfgang_forward_kick_better_ball_ppo.onnx"
+    get_package_share_directory("bitbots_rl_motion"), "models", "wolfgang_forward_kick_better_ball_ppo.onnx"
 )
 
 WALKREADY_STATE = np.array(

…bots_rl_walk/bitbots_rl_walk/__init__.py …_rl_motion/bitbots_rl_motion/__init__.pysrc/bitbots_rl_walk/bitbots_rl_walk/__init__.py renamed to src/bitbots_motion/bitbots_rl_motion/bitbots_rl_motion/__init__.py src/bitbots_rl_walk/bitbots_rl_walk/__init__.py renamed to src/bitbots_motion/bitbots_rl_motion/bitbots_rl_motion/__init__.py

@@ -8,8 +8,8 @@
 def main():
     rclpy.init()
 
-    wolfgang_config = os.path.join(get_package_share_directory("bitbots_rl_walk"), "config", "wolfgang_config.yaml")
-    # kick_policy_path = os.path.join(get_package_share_directory("bitbots_rl_walk"), "models", "wolfgang_kick_ppo.onnx")
+    wolfgang_config = os.path.join(get_package_share_directory("bitbots_rl_motion"), "config", "wolfgang_config.yaml")
+    # kick_policy_path = os.path.join(get_package_share_directory("bitbots_rl_motion"), "models", "wolfgang_kick_ppo.onnx")
 
     walk_node = WalkNode(wolfgang_config)
     # kick_node = RLNode(kick_policy_path)