ihmcrobotics · ds58 · Dec 5, 2024 · Dec 5, 2024 · Dec 5, 2024 · Dec 6, 2024
diff --git a/atlas/src/main/java/us/ihmc/atlas/AtlasCombinedFiducialModuleStarter.java b/atlas/src/main/java/us/ihmc/atlas/AtlasCombinedFiducialModuleStarter.java
@@ -8,7 +8,6 @@
 import us.ihmc.avatar.drcRobot.RobotTarget;
 import us.ihmc.avatar.networkProcessor.fiducialDetectorToolBox.FiducialDetectorToolboxModule;
 import us.ihmc.avatar.networkProcessor.objectDetectorToolBox.ObjectDetectorToolboxModule;
-import us.ihmc.pubsub.DomainFactory.PubSubImplementation;
 
 public class AtlasCombinedFiducialModuleStarter
 {
@@ -38,12 +37,10 @@ public static void main(String[] args) throws JSAPException
          return;
       }
 
-      PubSubImplementation pubSubImplementation = PubSubImplementation.FAST_RTPS;
       new FiducialDetectorToolboxModule(robotModel.getSimpleRobotName(),
                                         robotModel.getTarget(),
                                         robotModel.createFullRobotModel(),
-                                        robotModel.getLogModelProvider(),
-                                        pubSubImplementation);
-      new ObjectDetectorToolboxModule(robotModel.getSimpleRobotName(),robotModel.createFullRobotModel(),robotModel.getLogModelProvider(),pubSubImplementation);
+                                        robotModel.getLogModelProvider());
+      new ObjectDetectorToolboxModule(robotModel.getSimpleRobotName(),robotModel.createFullRobotModel(),robotModel.getLogModelProvider());
    }
 }
diff --git a/atlas/src/main/java/us/ihmc/atlas/AtlasDirectRobotInterface.java b/atlas/src/main/java/us/ihmc/atlas/AtlasDirectRobotInterface.java
@@ -3,26 +3,26 @@
 import atlas_msgs.msg.dds.AtlasDesiredPumpPSIPacket;
 import atlas_msgs.msg.dds.AtlasLowLevelControlModeMessage;
 import atlas_msgs.msg.dds.BDIBehaviorCommandPacket;
-import controller_msgs.msg.dds.*;
+import controller_msgs.msg.dds.AbortWalkingMessage;
+import controller_msgs.msg.dds.PauseWalkingMessage;
 import us.ihmc.avatar.drcRobot.DRCRobotModel;
 import us.ihmc.communication.HumanoidControllerAPI;
-import us.ihmc.ros2.ROS2PublisherBasics;
-import us.ihmc.communication.ROS2Tools;
 import us.ihmc.communication.controllerAPI.RobotLowLevelMessenger;
 import us.ihmc.humanoidRobotics.communication.packets.HumanoidMessageTools;
 import us.ihmc.humanoidRobotics.communication.packets.atlas.AtlasLowLevelControlMode;
-import us.ihmc.ros2.ROS2NodeInterface;
+import us.ihmc.ros2.ROS2Node;
+import us.ihmc.ros2.ROS2Publisher;
 import us.ihmc.ros2.ROS2Topic;
 
 public class AtlasDirectRobotInterface implements RobotLowLevelMessenger
 {
-   private final ROS2PublisherBasics<AtlasLowLevelControlModeMessage> lowLevelModePublisher;
-   private final ROS2PublisherBasics<BDIBehaviorCommandPacket> bdiBehaviorPublisher;
-   private final ROS2PublisherBasics<AtlasDesiredPumpPSIPacket> desiredPumpPSIPublisher;
-   private final ROS2PublisherBasics<AbortWalkingMessage> abortWalkingPublisher;
-   private final ROS2PublisherBasics<PauseWalkingMessage> pauseWalkingPublisher;
+   private final ROS2Publisher<AtlasLowLevelControlModeMessage> lowLevelModePublisher;
+   private final ROS2Publisher<BDIBehaviorCommandPacket> bdiBehaviorPublisher;
+   private final ROS2Publisher<AtlasDesiredPumpPSIPacket> desiredPumpPSIPublisher;
+   private final ROS2Publisher<AbortWalkingMessage> abortWalkingPublisher;
+   private final ROS2Publisher<PauseWalkingMessage> pauseWalkingPublisher;
 
-   public AtlasDirectRobotInterface(ROS2NodeInterface ros2Node, DRCRobotModel robotModel)
+   public AtlasDirectRobotInterface(ROS2Node ros2Node, DRCRobotModel robotModel)
    {
       ROS2Topic inputTopic = HumanoidControllerAPI.getInputTopic(robotModel.getSimpleRobotName());
       lowLevelModePublisher = ros2Node.createPublisher(inputTopic.withTypeName(AtlasLowLevelControlModeMessage.class));

diff --git a/atlas/src/main/java/us/ihmc/atlas/AtlasFiducialModulalStarter.java b/atlas/src/main/java/us/ihmc/atlas/AtlasFiducialModulalStarter.java
@@ -2,18 +2,15 @@
 
 import us.ihmc.avatar.drcRobot.RobotTarget;
 import us.ihmc.avatar.networkProcessor.fiducialDetectorToolBox.FiducialDetectorToolboxModule;
-import us.ihmc.pubsub.DomainFactory.PubSubImplementation;
 
 public class AtlasFiducialModulalStarter
 {
    public static void main(String[] args)
    {
-      PubSubImplementation pubSubImplementation = PubSubImplementation.FAST_RTPS;
       AtlasRobotModel robotModel = new AtlasRobotModel(AtlasRobotVersion.ATLAS_UNPLUGGED_V5_DUAL_ROBOTIQ, RobotTarget.REAL_ROBOT);
       new FiducialDetectorToolboxModule(robotModel.getSimpleRobotName(),
                                         robotModel.getTarget(),
                                         robotModel.createFullRobotModel(),
-                                        robotModel.getLogModelProvider(),
-                                        pubSubImplementation);
+                                        robotModel.getLogModelProvider());
    }
 }
diff --git a/atlas/src/main/java/us/ihmc/atlas/AtlasFlatGroundWalkingTrackSCS2.java b/atlas/src/main/java/us/ihmc/atlas/AtlasFlatGroundWalkingTrackSCS2.java
@@ -4,13 +4,11 @@
 import us.ihmc.avatar.scs2.SCS2AvatarSimulation;
 import us.ihmc.avatar.scs2.SCS2AvatarSimulationFactory;
 import us.ihmc.commonWalkingControlModules.desiredFootStep.footstepGenerator.HeadingAndVelocityEvaluationScriptParameters;
-import us.ihmc.communication.ROS2Tools;
-import us.ihmc.pubsub.DomainFactory.PubSubImplementation;
 import us.ihmc.robotics.robotSide.RobotSide;
 import us.ihmc.robotics.robotSide.SideDependentList;
+import us.ihmc.ros2.ROS2NodeBuilder;
 import us.ihmc.ros2.RealtimeROS2Node;
 import us.ihmc.scs2.SimulationConstructionSet2;
-import us.ihmc.scs2.simulation.SimulationSession;
 import us.ihmc.scs2.simulation.robot.Robot;
 import us.ihmc.simulationConstructionSetTools.util.HumanoidFloatingRootJointRobot;
 import us.ihmc.simulationConstructionSetTools.util.environments.FlatGroundEnvironment;
@@ -25,8 +23,7 @@ public class AtlasFlatGroundWalkingTrackSCS2
    private static boolean createYoVariableServer = System.getProperty("create.yovariable.server") != null
          && Boolean.parseBoolean(System.getProperty("create.yovariable.server"));
 
-   private final RealtimeROS2Node realtimeROS2Node = ROS2Tools.createRealtimeROS2Node(PubSubImplementation.INTRAPROCESS,
-                                                                                      "flat_ground_walking_track_simulation");
+   private final RealtimeROS2Node realtimeROS2Node = new ROS2NodeBuilder().buildRealtime("flat_ground_walking_track_simulation");
 
    public AtlasFlatGroundWalkingTrackSCS2()
    {

diff --git a/atlas/src/main/java/us/ihmc/atlas/AtlasFlatGroundWalkingTrackSCS2Bullet.java b/atlas/src/main/java/us/ihmc/atlas/AtlasFlatGroundWalkingTrackSCS2Bullet.java
@@ -1,10 +1,5 @@
 package us.ihmc.atlas;
 
-import static us.ihmc.humanoidRobotics.communication.packets.dataobjects.HighLevelControllerName.DO_NOTHING_BEHAVIOR;
-import static us.ihmc.humanoidRobotics.communication.packets.dataobjects.HighLevelControllerName.WALKING;
-
-import java.util.ArrayList;
-
 import us.ihmc.avatar.drcRobot.DRCRobotModel;
 import us.ihmc.avatar.initialSetup.RobotInitialSetup;
 import us.ihmc.avatar.scs2.SCS2AvatarSimulation;
@@ -15,26 +10,29 @@
 import us.ihmc.commonWalkingControlModules.dynamicPlanning.bipedPlanning.CoPTrajectoryParameters;
 import us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.factories.ContactableBodiesFactory;
 import us.ihmc.commonWalkingControlModules.highLevelHumanoidControl.factories.HighLevelHumanoidControllerFactory;
-import us.ihmc.communication.ROS2Tools;
 import us.ihmc.euclid.transform.RigidBodyTransform;
 import us.ihmc.humanoidRobotics.communication.packets.dataobjects.HighLevelControllerName;
-import us.ihmc.pubsub.DomainFactory.PubSubImplementation;
 import us.ihmc.robotics.robotSide.RobotSide;
 import us.ihmc.robotics.robotSide.SideDependentList;
+import us.ihmc.ros2.ROS2NodeBuilder;
 import us.ihmc.ros2.RealtimeROS2Node;
 import us.ihmc.sensorProcessing.parameters.HumanoidRobotSensorInformation;
 import us.ihmc.simulationConstructionSetTools.util.HumanoidFloatingRootJointRobot;
 import us.ihmc.simulationConstructionSetTools.util.environments.FlatGroundEnvironment;
 import us.ihmc.wholeBodyController.RobotContactPointParameters;
 
+import java.util.ArrayList;
+
+import static us.ihmc.humanoidRobotics.communication.packets.dataobjects.HighLevelControllerName.DO_NOTHING_BEHAVIOR;
+import static us.ihmc.humanoidRobotics.communication.packets.dataobjects.HighLevelControllerName.WALKING;
+
 public class AtlasFlatGroundWalkingTrackSCS2Bullet
 {
    private static final boolean USE_STAND_PREP = false;
    private static boolean createYoVariableServer = System.getProperty("create.yovariable.server") != null
          && Boolean.parseBoolean(System.getProperty("create.yovariable.server"));
 
-   private final RealtimeROS2Node realtimeROS2Node = ROS2Tools.createRealtimeROS2Node(PubSubImplementation.INTRAPROCESS,
-                                                                                      "flat_ground_walking_track_simulation");
+   private final RealtimeROS2Node realtimeROS2Node = new ROS2NodeBuilder().buildRealtime("flat_ground_walking_track_simulation");
    //private static final double SIMULATION_DT = 0.001;
 
    public AtlasFlatGroundWalkingTrackSCS2Bullet()

diff --git a/atlas/src/main/java/us/ihmc/atlas/AtlasFlatGroundWalkingTrackSCS2ImpulseBased.java b/atlas/src/main/java/us/ihmc/atlas/AtlasFlatGroundWalkingTrackSCS2ImpulseBased.java
@@ -4,8 +4,7 @@
 import us.ihmc.avatar.scs2.SCS2AvatarSimulation;
 import us.ihmc.avatar.scs2.SCS2AvatarSimulationFactory;
 import us.ihmc.commonWalkingControlModules.desiredFootStep.footstepGenerator.HeadingAndVelocityEvaluationScriptParameters;
-import us.ihmc.communication.ROS2Tools;
-import us.ihmc.pubsub.DomainFactory.PubSubImplementation;
+import us.ihmc.ros2.ROS2NodeBuilder;
 import us.ihmc.ros2.RealtimeROS2Node;
 import us.ihmc.simulationConstructionSetTools.util.HumanoidFloatingRootJointRobot;
 import us.ihmc.simulationConstructionSetTools.util.environments.FlatGroundEnvironment;
@@ -15,8 +14,7 @@ public class AtlasFlatGroundWalkingTrackSCS2ImpulseBased
    private static boolean createYoVariableServer = System.getProperty("create.yovariable.server") != null
          && Boolean.parseBoolean(System.getProperty("create.yovariable.server"));
 
-   private final RealtimeROS2Node realtimeROS2Node = ROS2Tools.createRealtimeROS2Node(PubSubImplementation.INTRAPROCESS,
-                                                                                      "flat_ground_walking_track_simulation");
+   private final RealtimeROS2Node realtimeROS2Node = new ROS2NodeBuilder().buildRealtime("flat_ground_walking_track_simulation");
 
    public AtlasFlatGroundWalkingTrackSCS2ImpulseBased()
    {

diff --git a/atlas/src/main/java/us/ihmc/atlas/AtlasKinematicsStreamingToolboxModule.java b/atlas/src/main/java/us/ihmc/atlas/AtlasKinematicsStreamingToolboxModule.java
@@ -1,32 +1,29 @@
 package us.ihmc.atlas;
 
-import java.util.HashMap;
-import java.util.Map;
-
 import com.martiansoftware.jsap.FlaggedOption;
 import com.martiansoftware.jsap.JSAP;
 import com.martiansoftware.jsap.JSAPException;
 import com.martiansoftware.jsap.JSAPResult;
-
 import us.ihmc.avatar.drcRobot.DRCRobotModel;
 import us.ihmc.avatar.drcRobot.RobotTarget;
 import us.ihmc.avatar.networkProcessor.kinemtaticsStreamingToolboxModule.KinematicsStreamingToolboxModule;
 import us.ihmc.log.LogTools;
-import us.ihmc.pubsub.DomainFactory.PubSubImplementation;
 import us.ihmc.robotDataLogger.logger.DataServerSettings;
 import us.ihmc.robotics.partNames.ArmJointName;
 import us.ihmc.robotics.partNames.HumanoidJointNameMap;
 import us.ihmc.robotics.partNames.LegJointName;
 import us.ihmc.robotics.partNames.SpineJointName;
 import us.ihmc.robotics.robotSide.RobotSide;
 
+import java.util.HashMap;
+import java.util.Map;
+
 public class AtlasKinematicsStreamingToolboxModule extends KinematicsStreamingToolboxModule
 {
    public AtlasKinematicsStreamingToolboxModule(DRCRobotModel robotModel,
-                                                boolean startYoVariableServer,
-                                                PubSubImplementation pubSubImplementation)
+                                                boolean startYoVariableServer)
    {
-      super(robotModel, startYoVariableServer, pubSubImplementation);
+      super(robotModel, startYoVariableServer);
       controller.setInitialRobotConfigurationNamedMap(initialConfiguration(robotModel));
       controller.getTools().getIKController().getCenterOfMassSafeMargin().set(0.10);
    }
@@ -100,8 +97,6 @@ public static void main(String[] args) throws JSAPException
       }
 
       boolean startYoVariableServer = true;
-      PubSubImplementation pubSubImplementation = PubSubImplementation.FAST_RTPS;
-      LogTools.info("Using ROS 2 {} mode.", pubSubImplementation.name());
-      new AtlasKinematicsStreamingToolboxModule(robotModel, startYoVariableServer, pubSubImplementation);
+      new AtlasKinematicsStreamingToolboxModule(robotModel, startYoVariableServer);
    }
 }
diff --git a/atlas/src/main/java/us/ihmc/atlas/AtlasNetworkProcessor.java b/atlas/src/main/java/us/ihmc/atlas/AtlasNetworkProcessor.java
@@ -1,13 +1,15 @@
 package us.ihmc.atlas;
 
-import com.martiansoftware.jsap.*;
-
+import com.martiansoftware.jsap.FlaggedOption;
+import com.martiansoftware.jsap.JSAP;
+import com.martiansoftware.jsap.JSAPException;
+import com.martiansoftware.jsap.JSAPResult;
+import com.martiansoftware.jsap.Switch;
 import us.ihmc.atlas.sensors.AtlasSensorSuiteManager;
 import us.ihmc.avatar.drcRobot.RobotTarget;
 import us.ihmc.avatar.networkProcessor.HumanoidNetworkProcessor;
 import us.ihmc.communication.producers.VideoControlSettings;
 import us.ihmc.log.LogTools;
-import us.ihmc.pubsub.DomainFactory.PubSubImplementation;
 
 import static us.ihmc.atlas.AtlasNetworkProcessor.NetworkProcessorMode.VR;
 
@@ -103,7 +105,7 @@ else if (config.getBoolean(runningOnGazebo.getID()))
 
       LogTools.info("Selected model: {}", model);
 
-      HumanoidNetworkProcessor networkProcessor = new HumanoidNetworkProcessor(model, PubSubImplementation.FAST_RTPS);
+      HumanoidNetworkProcessor networkProcessor = new HumanoidNetworkProcessor(model);
       LogTools.info("ROS_MASTER_URI = " + networkProcessor.getOrCreateRosURI());
 
       LogTools.info("Setting up network processor modules...");

diff --git a/atlas/src/main/java/us/ihmc/atlas/AtlasNetworkProcessorWithAutomaticDiagnosticRunner.java b/atlas/src/main/java/us/ihmc/atlas/AtlasNetworkProcessorWithAutomaticDiagnosticRunner.java
@@ -1,14 +1,16 @@
 package us.ihmc.atlas;
 
-import java.net.URISyntaxException;
-
-import com.martiansoftware.jsap.*;
-
+import com.martiansoftware.jsap.FlaggedOption;
+import com.martiansoftware.jsap.JSAP;
+import com.martiansoftware.jsap.JSAPException;
+import com.martiansoftware.jsap.JSAPResult;
+import com.martiansoftware.jsap.Switch;
 import us.ihmc.avatar.drcRobot.DRCRobotModel;
 import us.ihmc.avatar.drcRobot.RobotTarget;
 import us.ihmc.avatar.networkProcessor.HumanoidNetworkProcessor;
 import us.ihmc.log.LogTools;
-import us.ihmc.pubsub.DomainFactory.PubSubImplementation;
+
+import java.net.URISyntaxException;
 
 public class AtlasNetworkProcessorWithAutomaticDiagnosticRunner
 {
@@ -65,7 +67,7 @@ else if(config.getBoolean(runningOnGazebo.getID()))
 
         System.out.println("Using the " + model + " model");
 
-        HumanoidNetworkProcessor networkProcessor = new HumanoidNetworkProcessor(model, PubSubImplementation.FAST_RTPS);
+        HumanoidNetworkProcessor networkProcessor = new HumanoidNetworkProcessor(model);
         LogTools.info("ROS_MASTER_URI = " + networkProcessor.getOrCreateRosURI());
         networkProcessor.setupRosModule();
         networkProcessor.setupBehaviorModule(true, true, 15.0);

diff --git a/atlas/src/main/java/us/ihmc/atlas/AtlasObjectDetectionModules.java b/atlas/src/main/java/us/ihmc/atlas/AtlasObjectDetectionModules.java
@@ -6,8 +6,6 @@
 import us.ihmc.avatar.networkProcessor.objectDetectorToolBox.ObjectDetectorToolboxModule;
 import us.ihmc.commons.thread.ThreadTools;
 import us.ihmc.log.LogTools;
-import us.ihmc.pubsub.DomainFactory;
-import us.ihmc.pubsub.DomainFactory.PubSubImplementation;
 
 public class AtlasObjectDetectionModules
 {
@@ -21,12 +19,10 @@ public AtlasObjectDetectionModules()
       fiducialDetectorToolboxModule = new FiducialDetectorToolboxModule(robotModel.getSimpleRobotName(),
                                                                         robotModel.getTarget(),
                                                                         robotModel.createFullRobotModel(),
-                                                                        robotModel.getLogModelProvider(),
-                                                                        PubSubImplementation.FAST_RTPS);
+                                                                        robotModel.getLogModelProvider());
       objectDetectorToolboxModule = new ObjectDetectorToolboxModule(robotModel.getSimpleRobotName(),
                                                                     robotModel.createFullRobotModel(),
-                                                                    robotModel.getLogModelProvider(),
-                                                                    PubSubImplementation.FAST_RTPS);
+                                                                    robotModel.getLogModelProvider());
 
       Runtime.getRuntime().addShutdownHook(new Thread(() ->
       {

diff --git a/atlas/src/main/java/us/ihmc/atlas/AtlasROS1MappingTopics.java b/atlas/src/main/java/us/ihmc/atlas/AtlasROS1MappingTopics.java
@@ -7,13 +7,12 @@
 import std_msgs.Header;
 import us.ihmc.commons.thread.ThreadTools;
 import us.ihmc.communication.HumanoidControllerAPI;
-import us.ihmc.communication.ROS2Tools;
 import us.ihmc.communication.configuration.NetworkParameters;
 import us.ihmc.euclid.transform.RigidBodyTransform;
 import us.ihmc.euclid.tuple3D.interfaces.Tuple3DReadOnly;
 import us.ihmc.euclid.tuple4D.interfaces.QuaternionReadOnly;
-import us.ihmc.pubsub.DomainFactory;
 import us.ihmc.ros2.ROS2Node;
+import us.ihmc.ros2.ROS2NodeBuilder;
 import us.ihmc.utilities.ros.RosMainNode;
 import us.ihmc.utilities.ros.RosTools;
 import us.ihmc.utilities.ros.publisher.RosPointCloudPublisher;
@@ -62,7 +61,7 @@ public void onNewMessage(PointCloud2 pointCloud)
       ros1Node.attachSubscriber(OUSTER_TOPIC_IN, pointCloudSubscriber);
 
       AtomicReference<RobotConfigurationData> robotConfigurationDataHolder = new AtomicReference<>(new RobotConfigurationData());
-      ROS2Node ros2Node = ROS2Tools.createROS2Node(DomainFactory.PubSubImplementation.FAST_RTPS, "atlas_topics2");
+      ROS2Node ros2Node = new ROS2NodeBuilder().build("atlas_topics2");
       ros2Node.createSubscription(HumanoidControllerAPI.getOutputTopic("Atlas").withTypeName(RobotConfigurationData.class),
                                   s -> robotConfigurationDataHolder.set(s.takeNextData()));
 

diff --git a/atlas/src/main/java/us/ihmc/atlas/AtlasRobotModel.java b/atlas/src/main/java/us/ihmc/atlas/AtlasRobotModel.java
@@ -1,9 +1,5 @@
 package us.ihmc.atlas;
 
-import java.io.InputStream;
-import java.util.Arrays;
-import java.util.function.Consumer;
-
 import com.jme3.math.Transform;
 import us.ihmc.atlas.diagnostic.AtlasDiagnosticParameters;
 import us.ihmc.atlas.initialSetup.AtlasSimInitialSetup;
@@ -51,13 +47,13 @@
 import us.ihmc.footstepPlanning.graphSearch.parameters.DefaultFootstepPlannerParametersBasics;
 import us.ihmc.footstepPlanning.swing.SwingPlannerParametersBasics;
 import us.ihmc.jMonkeyEngineToolkit.jme.util.JMEDataTypeUtils;
-import us.ihmc.perception.depthData.CollisionBoxProvider;
 import us.ihmc.log.LogTools;
 import us.ihmc.mecano.multiBodySystem.interfaces.OneDoFJointBasics;
 import us.ihmc.modelFileLoaders.SdfLoader.SDFModelLoader;
 import us.ihmc.multicastLogDataProtocol.modelLoaders.DefaultLogModelProvider;
 import us.ihmc.multicastLogDataProtocol.modelLoaders.LogModelProvider;
 import us.ihmc.pathPlanning.visibilityGraphs.parameters.VisibilityGraphsParametersBasics;
+import us.ihmc.perception.depthData.CollisionBoxProvider;
 import us.ihmc.robotDataLogger.logger.DataServerSettings;
 import us.ihmc.robotModels.FullHumanoidRobotModel;
 import us.ihmc.robotModels.FullHumanoidRobotModelWrapper;
@@ -68,7 +64,7 @@
 import us.ihmc.robotiq.model.RobotiqHandModel;
 import us.ihmc.robotiq.simulatedHand.SimulatedRobotiqHandKinematicController;
 import us.ihmc.robotiq.simulatedHand.SimulatedRobotiqHandsControlThread;
-import us.ihmc.ros2.ROS2NodeInterface;
+import us.ihmc.ros2.ROS2Node;
 import us.ihmc.ros2.RealtimeROS2Node;
 import us.ihmc.scs2.definition.robot.RobotDefinition;
 import us.ihmc.scs2.definition.visual.ColorDefinition;
@@ -84,6 +80,10 @@
 import us.ihmc.wholeBodyController.diagnostics.DiagnosticParameters;
 import us.ihmc.yoVariables.providers.DoubleProvider;
 
+import java.io.InputStream;
+import java.util.Arrays;
+import java.util.function.Consumer;
+
 public class AtlasRobotModel implements DRCRobotModel
 {
    public final static boolean SCALE_ATLAS = false;
@@ -514,7 +514,7 @@ public AtlasSensorSuiteManager getSensorSuiteManager()
    }
 
    @Override
-   public AtlasSensorSuiteManager getSensorSuiteManager(ROS2NodeInterface ros2Node)
+   public AtlasSensorSuiteManager getSensorSuiteManager(ROS2Node ros2Node)
    {
       if (sensorSuiteManager == null)
       {
@@ -717,7 +717,7 @@ public DiagnosticParameters getDiagnoticParameters()
    }
 
    @Override
-   public RobotLowLevelMessenger newRobotLowLevelMessenger(ROS2NodeInterface ros2Node)
+   public RobotLowLevelMessenger newRobotLowLevelMessenger(ROS2Node ros2Node)
    {
       return new AtlasDirectRobotInterface(ros2Node, this);
    }