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removed tasksets from launch files #764

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f073fc5
removed tasksets from launch files
ChlukasX Mar 11, 2026
22beea0
taskset removed
ChlukasX Mar 12, 2026
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4 changes: 1 addition & 3 deletions src/bitbots_behavior/bitbots_body_behavior/launch/behavior.launch
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Expand Up @@ -3,10 +3,8 @@
<arg name="tf_prefix" default=""/>
<arg name="sim" default="false" />

<let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 2"/>
<let unless="$(env IS_ROBOT false)" name="taskset" value=""/>

<node pkg="bitbots_body_behavior" exec="body_behavior" output="screen" launch-prefix="$(var taskset)" respawn="true">
<node pkg="bitbots_body_behavior" exec="body_behavior" output="screen" respawn="true">
<param name="dsd_file" value="$(var dsd_file)"/>
<param name="actionlib_client_sub_queue_size" value="-1"/>
<param name="actionlib_client_sub_queue_size" value="-1"/>
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5 changes: 1 addition & 4 deletions src/bitbots_lowlevel/bitbots_ros_control/launch/ros_control.launch
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Expand Up @@ -6,10 +6,7 @@
<arg name="only_pressure" default="false"/>
<arg name="tts" default="true" description="Whether to speak" />

<let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 0"/>
<let unless="$(env IS_ROBOT false)" name="taskset" value=""/>

<node pkg="bitbots_ros_control" exec="ros_control" output="screen" launch-prefix="$(var taskset)">
<node pkg="bitbots_ros_control" exec="ros_control" output="screen" >
<param from="$(find-pkg-share bitbots_ros_control)/config/wolfgang.yaml" />
<param name="torqueless_mode" value="$(var torqueless_mode)"/>
<param name="only_imu" value="$(var only_imu)"/>
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4 changes: 1 addition & 3 deletions src/bitbots_misc/bitbots_basler_camera/launch/basler_camera.launch
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@@ -1,9 +1,7 @@
<?xml version="1.0" encoding="utf-8" ?>
<launch>
<let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 7"/>
<let unless="$(env IS_ROBOT false)" name="taskset" value=""/>

<node pkg="bitbots_basler_camera" exec="basler_camera" name="basler_camera_driver" output="screen" launch-prefix="$(var taskset)">
<node pkg="bitbots_basler_camera" exec="basler_camera" name="basler_camera_driver" output="screen" >
<param name="device_user_id" value="$(env ROBOT_NAME default)" />
<param name="camera_info_url" value="package://bitbots_basler_camera/config/camera_calibration_$(env ROBOT_NAME default).yaml" />
</node>
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2 changes: 1 addition & 1 deletion src/bitbots_misc/bitbots_ceiling_cam/launch/ceiling_cam.launch
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Expand Up @@ -3,7 +3,7 @@
<node pkg="tf2_ros" exec="static_transform_publisher" name="field_mount" args="--x -0.051 --y -0.113 --z 3.370 --qx -0.997 --qy -0.012 --qz 0.070 --qw 0.026 --frame-id ceiling_cam --child-frame-id field" />

<!-- camera driver -->
<node pkg="bitbots_basler_camera" exec="basler_camera" name="ceiling_cam_publisher" output="screen" launch-prefix="$(var taskset)">
<node pkg="bitbots_basler_camera" exec="basler_camera" name="ceiling_cam_publisher" output="screen" >
<param from="$(find-pkg-share bitbots_ceiling_cam)/config/camera_settings_ceiling_cam.yaml">
<remap from="/camera/image_proc" to="/ceiling_cam/ceiling_cam_publisher/image_proc"/>
<remap from="/camera/camera_info" to="/ceiling_cam/ceiling_cam_publisher/camera_info"/>
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6 changes: 2 additions & 4 deletions src/bitbots_motion/bitbots_animation_server/launch/animation.launch
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@@ -1,9 +1,7 @@
<launch>
<arg name="sim" default="false" description="Disables some checks for hardware, since we are in simulation."/>
<let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 3,4"/>
<let unless="$(env IS_ROBOT false)" name="taskset" value=""/>

<node pkg="bitbots_animation_server" exec="animation_node" output="screen" launch-prefix="$(var taskset)">
<node pkg="bitbots_animation_server" exec="animation_node" output="screen" >
<param name="use_sim_time" value="$(var sim)" />
</node>
</launch>
</launch>
6 changes: 2 additions & 4 deletions src/bitbots_motion/bitbots_animation_server/launch/test.launch
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@@ -1,7 +1,5 @@
<launch>
<arg name="sim" default="false"/>
<let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 3,4"/>
<let unless="$(env IS_ROBOT false)" name="taskset" value=""/>

<group unless="$(var sim)">
<include file="$(find-pkg-share bitbots_ros_control)/launch/ros_control.launch" />
Expand All @@ -10,6 +8,6 @@
<include file="$(find-pkg-share bitbots_parameter_blackboard)/launch/parameter_blackboard.launch" />
<include file="$(find-pkg-share bitbots_robot_description)/launch/load_robot_description.launch" />

<node pkg="bitbots_animation_server" exec="animation_node" output="screen" launch-prefix="$(var taskset)"/>
<node name="animation_hcm_bridge" pkg="bitbots_animation_server" exec="animation_hcm_bridge.py" output="screen" launch-prefix="$(var taskset)"/>
<node pkg="bitbots_animation_server" exec="animation_node" output="screen"/>
<node name="animation_hcm_bridge" pkg="bitbots_animation_server" exec="animation_hcm_bridge.py" output="screen" />
</launch>
9 changes: 3 additions & 6 deletions src/bitbots_motion/bitbots_dynamic_kick/launch/dynamic_kick.launch
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Expand Up @@ -3,17 +3,14 @@
<arg name="viz" default="false"/>
<let name="tf_prefix" value="$(eval '\'$(env ROS_NAMESPACE not_defined)\' if \'$(env ROS_NAMESPACE not_defined)\' != \'not_defined\' else \'\'')"/>

<let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 3,4"/>
<let unless="$(env IS_ROBOT false)" name="taskset" value=""/>

<group unless="$(var sim)">
<node pkg="bitbots_dynamic_kick" exec="KickNode" output="screen" launch-prefix="$(var taskset)">
<group unless="$(var sim)"
<node pkg="bitbots_dynamic_kick" exec="KickNode" output="screen" >
<param from="$(find-pkg-share bitbots_dynamic_kick)/config/kick_config.yaml" />
</node>
</group>

<group if="$(var sim)">
<node pkg="bitbots_dynamic_kick" exec="KickNode" output="screen" launch-prefix="$(var taskset)">
<node pkg="bitbots_dynamic_kick" exec="KickNode" output="screen" >
<param from="$(find-pkg-share bitbots_dynamic_kick)/config/kick_sim_config.yaml" />
<param name="use_sim_time" value="true"/>
</node>
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8 changes: 3 additions & 5 deletions src/bitbots_motion/bitbots_dynamic_kick/launch/test.launch
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Expand Up @@ -3,8 +3,6 @@
<arg name="sim" default="false"/>
<arg name="viz" default="false"/>

<let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 3,4"/>
<let unless="$(env IS_ROBOT false)" name="taskset" value=""/>

<include file="$(find-pkg-share bitbots_parameter_blackboard)/launch/parameter_blackboard.launch" >
<arg name="sim" value="$(var sim)"/>
Expand All @@ -29,22 +27,22 @@
<group unless="$(var sim)">
<group unless="$(var viz)">
<include file="$(find-pkg-share bitbots_ros_control)/launch/ros_control.launch" />
<node pkg="bitbots_dynamic_kick" exec="KickNode" output="screen" launch-prefix="$(var taskset)">
<node pkg="bitbots_dynamic_kick" exec="KickNode" output="screen" >
<remap from="/kick_motor_goals" to="/DynamixelController/command"/>
<param from="$(find-pkg-share bitbots_dynamic_kick)/config/kick_config.yaml" />
</node>
</group>
</group>

<group if="$(var sim)">
<node pkg="bitbots_dynamic_kick" exec="KickNode" output="screen" launch-prefix="$(var taskset)">
<node pkg="bitbots_dynamic_kick" exec="KickNode" output="screen" >
<remap from="/kick_motor_goals" to="/DynamixelController/command"/>
<param from="$(find-pkg-share bitbots_dynamic_kick)/config/kick_sim_config.yaml" />
</node>
</group>

<group if="$(var viz)">
<node pkg="bitbots_dynamic_kick" exec="KickNode" output="screen" launch-prefix="$(var taskset)">
<node pkg="bitbots_dynamic_kick" exec="KickNode" output="screen" >
<param from="$(find-pkg-share bitbots_dynamic_kick)/config/kick_sim_config.yaml" />
</node>
<node pkg="bitbots_utils" exec="motor_goals_viz_helper.py" output="screen" args="--kick" />
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6 changes: 2 additions & 4 deletions src/bitbots_motion/bitbots_dynup/launch/dynup.launch
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@@ -1,11 +1,9 @@
<launch>
<let name="tf_prefix" value="$(eval '\'$(env ROS_NAMESPACE not_defined)\' if \'$(env ROS_NAMESPACE not_defined)\' != \'not_defined\' else \'\'')"/>
<arg name="sim" default="false"/>
<let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 3,4"/>
<let unless="$(env IS_ROBOT false)" name="taskset" value=""/>

<group unless="$(var sim)">
<node pkg="bitbots_dynup" exec="DynupNode" output="screen" launch-prefix="$(var taskset)">
<node pkg="bitbots_dynup" exec="DynupNode" output="screen" >
<param name="base_link_frame" value="$(var tf_prefix)base_link"/>
<param name="r_sole_frame" value="$(var tf_prefix)r_sole"/>
<param name="l_sole_frame" value="$(var tf_prefix)l_sole"/>
Expand All @@ -14,7 +12,7 @@
</node>
</group>
<group if="$(var sim)">
<node pkg="bitbots_dynup" exec="DynupNode" output="screen" launch-prefix="$(var taskset)">
<node pkg="bitbots_dynup" exec="DynupNode" output="screen" >
<param name="base_link_frame" value="$(var tf_prefix)base_link"/>
<param name="r_sole_frame" value="$(var tf_prefix)r_sole"/>
<param name="l_sole_frame" value="$(var tf_prefix)l_sole"/>
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9 changes: 3 additions & 6 deletions src/bitbots_motion/bitbots_dynup/launch/test.launch
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Expand Up @@ -5,9 +5,6 @@
<arg name="viz" default="false"/>
<arg name="robot_type" default="wolfgang"/>

<let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 3,4"/>
<let unless="$(env IS_ROBOT false)" name="taskset" value=""/>

<include file="$(find-pkg-share bitbots_parameter_blackboard)/launch/parameter_blackboard.launch" >
<arg name="sim" value="$(var sim)"/>
</include>
Expand All @@ -20,7 +17,7 @@
<group unless="$(var sim)">
<group unless="$(var viz)">
<include file="$(find-pkg-share bitbots_ros_control)/launch/ros_control.launch" />
<node pkg="bitbots_dynup" exec="DynupNode" output="screen" launch-prefix="$(var taskset)">
<node pkg="bitbots_dynup" exec="DynupNode" output="screen" >
<param name="base_link_frame" value="$(var tf_prefix)base_link"/>
<param name="r_sole_frame" value="$(var tf_prefix)r_sole"/>
<param name="l_sole_frame" value="$(var tf_prefix)l_sole"/>
Expand All @@ -33,7 +30,7 @@
</group>

<group if="$(var sim)">
<node pkg="bitbots_dynup" exec="DynupNode" output="screen" launch-prefix="$(var taskset)">
<node pkg="bitbots_dynup" exec="DynupNode" output="screen" >
<param name="base_link_frame" value="$(var tf_prefix)base_link"/>
<param name="r_sole_frame" value="$(var tf_prefix)r_sole"/>
<param name="l_sole_frame" value="$(var tf_prefix)l_sole"/>
Expand All @@ -46,7 +43,7 @@

<group if="$(var viz)">
<node pkg="bitbots_utils" exec="motor_goals_viz_helper.py" args="--all" />
<node pkg="bitbots_dynup" exec="DynupNode" output="screen" launch-prefix="$(var taskset)">
<node pkg="bitbots_dynup" exec="DynupNode" output="screen" >
<param name="base_link_frame" value="$(var tf_prefix)base_link"/>
<param name="r_sole_frame" value="$(var tf_prefix)r_sole"/>
<param name="l_sole_frame" value="$(var tf_prefix)l_sole"/>
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5 changes: 1 addition & 4 deletions src/bitbots_motion/bitbots_hcm/launch/hcm.launch
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Expand Up @@ -5,11 +5,8 @@
<arg name="viz" default="false" description="Disables all checks for hardware, since we are in visualization."/>
<arg name="wolfgang" default="true"/>

<let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 1"/>
<let unless="$(env IS_ROBOT false)" name="taskset" value=""/>

<group if="$(var wolfgang)">
<node pkg="bitbots_hcm" exec="HCM" args="" output="screen" launch-prefix="$(var taskset)">
<node pkg="bitbots_hcm" exec="HCM" args="" output="screen" >
<param name="use_sim_time" value="$(var sim)" />
<param name="simulation_active" value="$(var sim)" />
<param name="visualization_active" value="$(var viz)" />
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2 changes: 0 additions & 2 deletions src/bitbots_motion/bitbots_head_mover/launch/head_mover.launch
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Expand Up @@ -2,8 +2,6 @@
<arg name="tf_prefix" default=""/>
<arg name="sim" default="false" />

<let unless="$(env IS_ROBOT false)" name="taskset" value=""/>

<node pkg="bitbots_head_mover" exec="move_head" output="screen" respawn="true">
<param name="use_sim_time" value="$(var sim)" />
</node>
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7 changes: 2 additions & 5 deletions src/bitbots_motion/bitbots_quintic_walk/launch/quintic_walk.launch
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Expand Up @@ -3,16 +3,13 @@
<arg name="sim" default="false"/>
<arg name="wolfgang" default="false"/>

<let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 3,4"/>
<let unless="$(env IS_ROBOT false)" name="taskset" value=""/>

<group if="$(var sim)">
<node pkg="bitbots_quintic_walk" exec="WalkNode" output="screen" launch-prefix="$(var taskset)">
<node pkg="bitbots_quintic_walk" exec="WalkNode" output="screen" >
<param from="$(find-pkg-share bitbots_quintic_walk)/config/walking_wolfgang_simulator.yaml" />
</node>
</group>
<group unless="$(var sim)">
<node pkg="bitbots_quintic_walk" exec="WalkNode" output="screen" launch-prefix="$(var taskset)">
<node pkg="bitbots_quintic_walk" exec="WalkNode" output="screen" >
<param from="$(find-pkg-share bitbots_quintic_walk)/config/walking_wolfgang_robot.yaml" />
<param from="$(find-pkg-share bitbots_quintic_walk)/config/robots/$(env ROBOT_NAME default).yaml" />
</node>
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7 changes: 2 additions & 5 deletions src/bitbots_motion/bitbots_quintic_walk/launch/test.launch
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Expand Up @@ -4,9 +4,6 @@
<arg name="viz" default="false"/>
<arg name="robot_type" default="wolfgang"/>

<let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 3,4"/>
<let unless="$(env IS_ROBOT false)" name="taskset" value=""/>

<include file="$(find-pkg-share bitbots_parameter_blackboard)/launch/parameter_blackboard.launch" >
<arg name="sim" value="$(var sim)"/>
</include>
Expand All @@ -30,15 +27,15 @@
<group unless="$(var sim)">
<group unless="$(var viz)">
<include file="$(find-pkg-share bitbots_ros_control)/launch/ros_control.launch" />
<node pkg="bitbots_quintic_walk" exec="WalkNode" output="screen" launch-prefix="$(var taskset)">
<node pkg="bitbots_quintic_walk" exec="WalkNode" output="screen" >
<param from="$(find-pkg-share bitbots_quintic_walk)/config/walking_$(var robot_type)_robot.yaml"/>
<remap from="/walking_motor_goals" to="/DynamixelController/command"/>
</node>
</group>
</group>

<group if="$(var sim)">
<node pkg="bitbots_quintic_walk" exec="WalkNode" output="screen" launch-prefix="$(var taskset)">
<node pkg="bitbots_quintic_walk" exec="WalkNode" output="screen" >
<remap from="/walking_motor_goals" to="/DynamixelController/command"/>
<param from="$(find-pkg-share bitbots_quintic_walk)/config/walking_$(var robot_type)_simulator.yaml"/>
</node>
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5 changes: 1 addition & 4 deletions src/bitbots_motion/bitbots_rl_motion/launch/rl_walk.launch
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Expand Up @@ -2,16 +2,13 @@
<arg name="tf_prefix" value="$(eval env('ROS_NAMESPACE') + '/' if env('ROS_NAMESPACE') != '' else '')"/>
<arg name="sim" default="false"/>

<let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 3,4"/>
<let unless="$(env IS_ROBOT false)" name="taskset" value=""/>

<group if="$(var sim)">
<param from="$(find-pkg-share bitbots_rl_motion)/config/rl_walk_sim.yaml" command="load"/>
</group>
<group unless="$(var sim)">
<param from="$(find-pkg-share bitbots_rl_motion)/config/rl_walk_real.yaml" command="load"/>
</group>
<node name="rl_walk" pkg="bitbots_rl_motion" exec="rl_walk.py" output="screen" launch-prefix="$(var taskset)">
<node name="rl_walk" pkg="bitbots_rl_motion" exec="rl_walk.py" output="screen" >
<param name="base_link_frame" value="$(var tf_prefix)base_link"/>
<param name="r_sole_frame" value="$(var tf_prefix)r_sole"/>
<param name="l_sole_frame" value="$(var tf_prefix)l_sole"/>
Expand Down
7 changes: 2 additions & 5 deletions src/bitbots_motion/bitbots_rl_motion/launch/test.launch
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Expand Up @@ -3,9 +3,6 @@
<arg name="sim" default="false"/>
<arg name="use_darwin" default="false"/>

<let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 3,4"/>
<let unless="$(env IS_ROBOT false)" name="taskset" value=""/>

<include file="$(find-pkg-share bitbots_parameter_blackboard)/launch/parameter_blackboard.launch" >
<arg name="sim" value="$(var sim)"/>
</include>
Expand All @@ -32,13 +29,13 @@
</group>

<group if="$(var sim)">
<node pkg="bitbots_rl_motion" exec="rl_walk.py" output="screen" launch-prefix="$(var taskset)">
<node pkg="bitbots_rl_motion" exec="rl_walk.py" output="screen" >
<remap from="/walking_motor_goals" to="/DynamixelController/command"/>
<param from="$(find-pkg-share bitbots_rl_motion)/config/rl_walk_sim.yaml"/>
</node>
</group>
<group unless="$(var sim)">
<node pkg="bitbots_rl_motion" exec="rl_walk.py" output="screen" launch-prefix="$(var taskset)">
<node pkg="bitbots_rl_motion" exec="rl_walk.py" output="screen" >
<param from="$(find-pkg-share bitbots_rl_motion)/config/rl_walk_real.yaml"/>
</node>
</group>
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9 changes: 2 additions & 7 deletions src/bitbots_navigation/bitbots_localization/launch/localization.launch
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Expand Up @@ -2,14 +2,9 @@
<!-- define parameters -->
<arg name="tf_prefix" default=""/>
<arg name="sim" default="false" description="true: activates simulation time and might load different parameters"/>

<let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 8"/>
<let unless="$(env IS_ROBOT false)" name="taskset" value=""/>
<let if="$(env IS_ROBOT false)" name="handler_taskset" value="taskset -c 9"/>
<let unless="$(env IS_ROBOT false)" name="handler_taskset" value=""/>

<!-- load localization -->
<node pkg="bitbots_localization" exec="localization" name="bitbots_localization" output="screen" launch-prefix="$(var taskset)">
<node pkg="bitbots_localization" exec="localization" name="bitbots_localization" output="screen" >
<!-- load base parameters -->
<param from="$(find-pkg-share bitbots_localization)/config/config.yaml"/>
<!-- load correct frames for namespace -->
Expand All @@ -20,7 +15,7 @@
<param name="use_sim_time" value="$(var sim)"/>
</node>

<node pkg="bitbots_localization_handler" exec="localization_handler" output="screen" launch-prefix="$(var handler_taskset)">
<node pkg="bitbots_localization_handler" exec="localization_handler" output="screen">
<param name="use_sim_time" value="$(var sim)"/>
<param name="odom_frame" value="$(var tf_prefix)odom"/>
<param name="base_footprint_frame" value="$(var tf_prefix)base_footprint"/>
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7 changes: 2 additions & 5 deletions src/bitbots_navigation/bitbots_odometry/launch/odometry.launch
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Expand Up @@ -2,10 +2,7 @@
<arg name="sim" default="false"/>
<let name="tf_prefix" value="$(eval '\'$(env ROS_NAMESPACE not_defined)\' if \'$(env ROS_NAMESPACE not_defined)\' != \'not_defined\' else \'\'')"/>

<let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 5"/>
<let unless="$(env IS_ROBOT false)" name="taskset" value=""/>

<node name="motion_odometry" pkg="bitbots_odometry" exec="motion_odometry" launch-prefix="$(var taskset)">
<node name="motion_odometry" pkg="bitbots_odometry" exec="motion_odometry">
<param from="$(find-pkg-share bitbots_odometry)/config/odometry_config_$(env ROBOT_NAME default).yaml"/>
<param name="base_link_frame" value="$(var tf_prefix)base_link"/>
<param name="r_sole_frame" value="$(var tf_prefix)r_sole"/>
Expand All @@ -14,7 +11,7 @@
<param name="use_sim_time" value="$(var sim)"/>
</node>

<node name="odometry_fuser" pkg="bitbots_odometry" exec="odometry_fuser" launch-prefix="$(var taskset)">
<node name="odometry_fuser" pkg="bitbots_odometry" exec="odometry_fuser">
<param name="base_link_frame" value="$(var tf_prefix)base_link"/>
<param name="r_sole_frame" value="$(var tf_prefix)r_sole"/>
<param name="l_sole_frame" value="$(var tf_prefix)l_sole"/>
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6 changes: 2 additions & 4 deletions src/bitbots_vision/launch/vision.launch
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Expand Up @@ -4,11 +4,9 @@
<arg name="sim" default="false" description="true: activates simulation time and switches to simulation color settings" />
<arg name="debug" default="false" description="true: activates publishing of several debug images" />

<let if="$(env IS_ROBOT false)" name="taskset" value="taskset -c 6,7"/>
<let unless="$(env IS_ROBOT false)" name="taskset" value=""/>

<group unless="$(var sim)">
<node pkg="bitbots_vision" exec="vision" name="bitbots_vision" output="screen" launch-prefix="$(var taskset)">
<node pkg="bitbots_vision" exec="vision" name="bitbots_vision" output="screen">
<!-- Set vision config -->
<param from="$(find-pkg-share bitbots_vision)/config/visionparams.yaml" />

Expand All @@ -18,7 +16,7 @@
</group>
<!-- Start the YOEO vision in sim configuration-->
<group if="$(var sim)">
<node pkg="bitbots_vision" exec="vision" name="bitbots_vision" output="screen" launch-prefix="$(var taskset)">
<node pkg="bitbots_vision" exec="vision" name="bitbots_vision" output="screen">
<!-- Set vision config -->
<param from="$(find-pkg-share bitbots_vision)/config/visionparams_sim.yaml"/>

Expand Down
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