Added model parameter to the install script, inspired by TURTLEBOT3_MODEL env variable

Author: Ivan Shalnov

src/robot_upstart/install_script.py

@@ -68,6 +68,8 @@ def get_argument_parser():
                    help="Create symbolic link to job launch files instead of copying them.")
     p.add_argument("--wait", action='store_true',
                    help="Pass a wait flag to roslaunch.")
+    p.add_argument("--model", type=str, metavar="MODEL", 
+                   help="Specify the model of your robot if not specified under ROBOT_MODEL")
 
     return p
 
@@ -85,7 +87,7 @@ def main():
     j = robot_upstart.Job(
         name=job_name, interface=args.interface, user=args.user,
         workspace_setup=args.setup, rosdistro=args.rosdistro,
-        master_uri=args.master, log_path=args.logdir)
+        master_uri=args.master, log_path=args.logdir, model=args.model)
 
     for this_pkgpath in args.pkgpath:
         pkg, pkgpath = this_pkgpath.split('/', 1)

src/robot_upstart/job.py

@@ -40,7 +40,7 @@ class Job(object):
     """ Represents a ROS configuration to launch on machine startup. """
 
     def __init__(self, name="ros", interface=None, user=None, workspace_setup=None,
-                 rosdistro=None, master_uri=None, log_path=None):
+                 rosdistro=None, master_uri=None, log_path=None, model=None):
         """Construct a new Job definition.
 
         :param name: Name of job to create. Defaults to "ros", but you might
@@ -67,6 +67,8 @@ def __init__(self, name="ros", interface=None, user=None, workspace_setup=None,
             default of using /tmp, it is the user's responsibility to manage log
             rotation.
         :type log_path: str
+        :param model: Your robot model if not specified under ROBOT_MODEL.
+        :type model: str
         """
 
         self.name = name
@@ -105,6 +107,16 @@ def __init__(self, name="ros", interface=None, user=None, workspace_setup=None,
         # startup job itself. List of strs.
         self.files = []
 
+        # Sets the model environment variable if provided, else results in
+        # ROBOT_MODEL=ROBOT
+        if model:
+            self.model = name.upper() + '_MODEL=' + model
+        else:    
+            try:
+                self.model = name.upper() + '_MODEL=' + os.environ[name.upper() + '_MODEL']
+            except KeyError:
+                self.model = name.upper() + '_MODEL=ROBOT'
+
     def add(self, package=None, filename=None, glob=None):
         """ Add launch or other configuration files to Job.
 

templates/job-start.em

@@ -67,6 +67,9 @@ export ROS_MASTER_URI=@(master_uri)
 @[else]@
 export ROS_MASTER_URI=http://127.0.0.1:11311
 @[end if]@
+@[if model]@
+export @(model)
+@[end if]@
 export ROS_HOME=${ROS_HOME:=$(echo ~@(user))/.ros}
 export ROS_LOG_DIR=$log_path