refactor prepare team scripts #35
Description
How it works now
The prepare_team_wamv.bash script in the vrx-docker repository is a bash script that checks for required submission files and then builds a urdf for the wamv from the config data by running roslaunch vrx_gazebo generate_wamv.launch from the vrx repository.
generate_wamv.launch takes the config files and the path to the file to be generated as input and loads them into the parameter server along with wamv_gazebo.urdf.xacro, the directory containing the sensor xacros, and the directory containing the thruster xacros. It then calls generate_wamv.py as a ros node.
generate_wamv.py does nothing except call configure_wamv.py
configure_wamv.py relies almost entirely on python code we wrote ourselves (utils.py and compliance.py). It only uses rospy to retrieve parameters from the parameter server and to output logs.
Proposal
It seems likely that we could simplify this system by eliminating the reliance on ros altogether and putting all the necessary scripts in the same repository.