Add robot as list

robotics_application_manager/libs/__init__.py

@@ -10,7 +10,6 @@
 from .process_utils import (
     get_ros_version,
     check_gpu_acceleration,
-    get_user_world,
     wait_for_xserver,
     wait_for_process_to_start,
     stop_process_and_children,

robotics_application_manager/libs/process_utils.py

@@ -153,26 +153,3 @@ def check_gpu_acceleration():
 def get_ros_version():
     output = subprocess.check_output(["bash", "-c", "echo $ROS_VERSION"])
     return output.decode("utf-8")[0]
-
-
-def get_user_world(launch_file):
-    """ "
-    Processes a provided base64 encoded string representing a zip file, decodes it,
-    saves it as a zip file, and then extracts its contents.
-
-    The function takes a base64 encoded string (`launch_file`) as input. It first decodes this
-    string into binary format, then saves this binary content as a zip file in a predetermined
-    directory ('workspace/binaries/'). After saving, it extracts the contents of the zip file into
-    another specified directory ('workspace/worlds/').
-    """
-    try:
-        # Convert base64 to binary
-        binary_content = base64.b64decode(launch_file)
-        # Save the binary content as a file
-        with open("workspace/binaries/user_worlds.zip", "wb") as file:
-            file.write(binary_content)
-        # Unzip the file
-        with zipfile.ZipFile("workspace/binaries/user_worlds.zip", "r") as zip_ref:
-            zip_ref.extractall("workspace/worlds/")
-    except Exception as e:
-        LogManager.logging.error(f"An error occurred getting user world: {e}")

robotics_application_manager/manager/manager.py

@@ -325,6 +325,10 @@ def on_launch_world(self, event):
         scene_cfg = cfg_dict["scene"]
         robot_cfg = cfg_dict["robot"]
 
+        # Backwards compatibility for now
+        if isinstance(robot_cfg, list):
+            robot_cfg = robot_cfg[0]
+
         # Launch scene
         try:
             if scene_cfg["type"] == None: