Move config files into config directory per standard package structure

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>

.github/docker/minimal-zenoh-bridge/Dockerfile

@@ -11,7 +11,7 @@ RUN mkdir -p /zenoh-bridge && cd /zenoh-bridge \
   && rm zenoh-plugin-ros2dds.zip
 
 RUN cd /zenoh-bridge \
-  && wget -O turtlebot3_1_client_zenoh_config.json5 https://raw.githubusercontent.com/open-rmf/free_fleet/refs/heads/$FREE_FLEET_BRANCH/free_fleet_examples/zenoh_configs/turtlebot3_1_client_zenoh_config.json5
+  && wget -O turtlebot3_1_client_zenoh_config.json5 https://raw.githubusercontent.com/open-rmf/free_fleet/refs/heads/$FREE_FLEET_BRANCH/free_fleet_examples/config/zenoh/turtlebot3_1_client_zenoh_config.json5
 
 ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp
 

README.md

@@ -14,7 +14,7 @@
 
 Free fleet is a python implementation of the Open-RMF Fleet Adapter, based on the [`fleet_adapter_template`](https://github.com/open-rmf/fleet_adapter_template). It uses `zenoh` as a communication layer between each robot and the fleet adapter, allowing access and control over the navigation stacks of the robots.
 
-Using `zenoh` bridges to pipe the necessary ROS 2 messages between each robot and the `free_fleet_adapter`, users have the flexibility to configure and customize their network setups accordingly following the [official guide](https://github.com/eclipse-zenoh/zenoh?tab=readme-ov-file#configuration-options). Examples provided in this repository are using [these configurations](./free_fleet_examples/zenoh_configs/), do take note of the selective topics that are required for the `free_fleet_adapter` to work. The `zenoh` configuration conveniently allows users to filter and limit the rate of messages based on topics as well, which will be helpful in deployments with limited network bandwidth.
+Using `zenoh` bridges to pipe the necessary ROS 2 messages between each robot and the `free_fleet_adapter`, users have the flexibility to configure and customize their network setups accordingly following the [official guide](https://github.com/eclipse-zenoh/zenoh?tab=readme-ov-file#configuration-options). Examples provided in this repository are using [these configurations](./free_fleet_examples/config/zenoh/), do take note of the selective topics that are required for the `free_fleet_adapter` to work. The `zenoh` configuration conveniently allows users to filter and limit the rate of messages based on topics as well, which will be helpful in deployments with limited network bandwidth.
 
 ![](../media/architecture.jpg)
 
@@ -133,7 +133,7 @@ source /opt/ros/jazzy/setup.bash
 export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
 cd PATH_TO_EXTRACTED_ZENOH_BRIDGE
-./zenoh-bridge-ros2dds -c ~/ff_ws/src/free_fleet/free_fleet_examples/zenoh_configs/turtlebot3_1_zenoh_config.json5
+./zenoh-bridge-ros2dds -c ~/ff_ws/src/free_fleet/free_fleet_examples/config/zenoh/turtlebot3_1_zenoh_config.json5
 ```
 
 Listen to transforms over `zenoh`,
@@ -223,7 +223,7 @@ source /opt/ros/jazzy/setup.bash
 export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
 cd PATH_TO_EXTRACTED_ZENOH_BRIDGE
-./zenoh-bridge-ros2dds -c ~/ff_ws/src/free_fleet/free_fleet_examples/zenoh_configs/unique_multi_tb3_zenoh_config.json5
+./zenoh-bridge-ros2dds -c ~/ff_ws/src/free_fleet/free_fleet_examples/config/zenoh/unique_multi_tb3_zenoh_config.json5
 ```
 
 Start the RMF core packages on a different `ROS_DOMAIN_ID` to simulate running on a different machine,

free_fleet_examples/CMakeLists.txt

@@ -59,13 +59,8 @@ install(DIRECTORY
 )
 
 install(DIRECTORY
-  fleet_configs/
-  DESTINATION share/${PROJECT_NAME}/fleet_configs
-)
-
-install(DIRECTORY
-  zenoh_configs/
-  DESTINATION share/${PROJECT_NAME}/zenoh_configs
+  config/
+  DESTINATION share/${PROJECT_NAME}/config
 )
 
 if(BUILD_TESTING)

free_fleet_examples/launch/tb3_simulation_fleet_adapter.launch.xml

@@ -7,7 +7,7 @@
     <include file="$(find-pkg-share free_fleet_adapter)/fleet_adapter.launch.xml">
       <arg name="use_sim_time" value="false"/>
       <arg name="nav_graph_file" value="$(find-pkg-share free_fleet_examples)/maps/turtlebot3_world/nav_graphs/0.yaml" />
-      <arg name="config_file" value="$(find-pkg-share free_fleet_examples)/fleet_configs/tb3_simulation_fleet_config.yaml"/>
+      <arg name="config_file" value="$(find-pkg-share free_fleet_examples)/config/fleet/tb3_simulation_fleet_config.yaml"/>
       <arg name="server_uri" value="$(var server_uri)"/>
     </include>
   </group>

free_fleet_examples/launch/unique_multi_tb3_simulation_fleet_adapter.launch.xml

@@ -7,7 +7,7 @@
     <include file="$(find-pkg-share free_fleet_adapter)/launch/fleet_adapter.launch.xml">
       <arg name="use_sim_time" value="false"/>
       <arg name="nav_graph_file" value="$(find-pkg-share free_fleet_examples)/maps/turtlebot3_world/nav_graphs/0.yaml" />
-      <arg name="config_file" value="$(find-pkg-share free_fleet_examples)/fleet_configs/unique_multi_tb3_simulation_fleet_config.yaml"/>
+      <arg name="config_file" value="$(find-pkg-share free_fleet_examples)/config/fleet/unique_multi_tb3_simulation_fleet_config.yaml"/>
       <arg name="server_uri" value="$(var server_uri)"/>
     </include>
   </group>