From 6bbb9e405856e23f445f9f8fa87f27ccbff4d114 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Thu, 21 Nov 2024 12:30:42 +0100 Subject: [PATCH] Move gzserver logic to its action (#646) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- ros_gz_sim/launch/gz_server.launch.py | 63 +++------------- ros_gz_sim/launch/ros_gz_sim.launch.py | 55 +++++--------- ros_gz_sim/ros_gz_sim/actions/gzserver.py | 88 ++++++++++++++++++----- 3 files changed, 101 insertions(+), 105 deletions(-) diff --git a/ros_gz_sim/launch/gz_server.launch.py b/ros_gz_sim/launch/gz_server.launch.py index 70de5d24..3c231a1d 100644 --- a/ros_gz_sim/launch/gz_server.launch.py +++ b/ros_gz_sim/launch/gz_server.launch.py @@ -16,10 +16,8 @@ from launch import LaunchDescription from launch.actions import DeclareLaunchArgument -from launch.conditions import IfCondition -from launch.substitutions import LaunchConfiguration, PythonExpression, TextSubstitution -from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes, Node -from launch_ros.descriptions import ComposableNode +from launch.substitutions import LaunchConfiguration, TextSubstitution +from ros_gz_sim.actions import GzServer def generate_launch_description(): @@ -40,51 +38,12 @@ def generate_launch_description(): 'use_composition', default_value='False', description='Use composed bringup if True') - load_nodes = Node( - condition=IfCondition(PythonExpression(['not ', LaunchConfiguration('use_composition')])), - package='ros_gz_sim', - executable='gzserver', - output='screen', - parameters=[{'world_sdf_file': LaunchConfiguration('world_sdf_file'), - 'world_sdf_string': LaunchConfiguration('world_sdf_string')}], - ) - - load_composable_nodes_with_container = ComposableNodeContainer( - condition=IfCondition( - PythonExpression([LaunchConfiguration('use_composition'), ' and ', - LaunchConfiguration('create_own_container')])), - name=LaunchConfiguration('container_name'), - namespace='', - package='rclcpp_components', - executable='component_container', - composable_node_descriptions=[ - ComposableNode( - package='ros_gz_sim', - plugin='ros_gz_sim::GzServer', - name='gz_server', - parameters=[{'world_sdf_file': LaunchConfiguration('world_sdf_file'), - 'world_sdf_string': LaunchConfiguration('world_sdf_string')}], - extra_arguments=[{'use_intra_process_comms': True}], - ), - ], - output='screen', - ) - - load_composable_nodes_without_container = LoadComposableNodes( - condition=IfCondition( - PythonExpression([LaunchConfiguration('use_composition'), ' and not ', - LaunchConfiguration('create_own_container')])), - target_container=LaunchConfiguration('container_name'), - composable_node_descriptions=[ - ComposableNode( - package='ros_gz_sim', - plugin='ros_gz_sim::GzServer', - name='gz_server', - parameters=[{'world_sdf_file': LaunchConfiguration('world_sdf_file'), - 'world_sdf_string': LaunchConfiguration('world_sdf_string')}], - extra_arguments=[{'use_intra_process_comms': True}], - ), - ], + gz_server_action = GzServer( + world_sdf_file=LaunchConfiguration('world_sdf_file'), + world_sdf_string=LaunchConfiguration('world_sdf_string'), + container_name=LaunchConfiguration('container_name'), + create_own_container=LaunchConfiguration('create_own_container'), + use_composition=LaunchConfiguration('use_composition'), ) # Create the launch description and populate @@ -96,9 +55,7 @@ def generate_launch_description(): ld.add_action(declare_container_name_cmd) ld.add_action(declare_create_own_container_cmd) ld.add_action(declare_use_composition_cmd) - # Add the actions to launch all of the gz_server nodes - ld.add_action(load_nodes) - ld.add_action(load_composable_nodes_with_container) - ld.add_action(load_composable_nodes_without_container) + # Add the gz_server action + ld.add_action(gz_server_action) return ld diff --git a/ros_gz_sim/launch/ros_gz_sim.launch.py b/ros_gz_sim/launch/ros_gz_sim.launch.py index 6b3650cf..1465c44e 100644 --- a/ros_gz_sim/launch/ros_gz_sim.launch.py +++ b/ros_gz_sim/launch/ros_gz_sim.launch.py @@ -15,28 +15,14 @@ """Launch gzsim + ros_gz_bridge in a component container.""" from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, TextSubstitution -from launch_ros.substitutions import FindPackageShare +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration, TextSubstitution from ros_gz_bridge.actions import RosGzBridge +from ros_gz_sim.actions import GzServer def generate_launch_description(): - bridge_name = LaunchConfiguration('bridge_name') - config_file = LaunchConfiguration('config_file') - container_name = LaunchConfiguration('container_name') - create_own_container = LaunchConfiguration('create_own_container') - namespace = LaunchConfiguration('namespace') - use_composition = LaunchConfiguration('use_composition') - use_respawn = LaunchConfiguration('use_respawn') - bridge_log_level = LaunchConfiguration('bridge_log_level') - bridge_params = LaunchConfiguration('bridge_params') - - world_sdf_file = LaunchConfiguration('world_sdf_file') - world_sdf_string = LaunchConfiguration('world_sdf_string') - declare_bridge_name_cmd = DeclareLaunchArgument( 'bridge_name', description='Name of the bridge' ) @@ -89,27 +75,24 @@ def generate_launch_description(): description='SDF world string' ) - gz_server_description = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - [PathJoinSubstitution([FindPackageShare('ros_gz_sim'), - 'launch', - 'gz_server.launch.py'])]), - launch_arguments=[('world_sdf_file', world_sdf_file), - ('world_sdf_string', world_sdf_string), - ('container_name', container_name), - ('create_own_container', create_own_container), - ('use_composition', use_composition), ]) + gz_server_action = GzServer( + world_sdf_file=LaunchConfiguration('world_sdf_file'), + world_sdf_string=LaunchConfiguration('world_sdf_string'), + container_name=LaunchConfiguration('container_name'), + create_own_container=LaunchConfiguration('create_own_container'), + use_composition=LaunchConfiguration('use_composition'), + ) ros_gz_bridge_action = RosGzBridge( - bridge_name=bridge_name, - config_file=config_file, - container_name=container_name, + bridge_name=LaunchConfiguration('bridge_name'), + config_file=LaunchConfiguration('config_file'), + container_name=LaunchConfiguration('container_name'), create_own_container=str(False), - namespace=namespace, - use_composition=use_composition, - use_respawn=use_respawn, - log_level=bridge_log_level, - bridge_params=bridge_params, + namespace=LaunchConfiguration('namespace'), + use_composition=LaunchConfiguration('use_composition'), + use_respawn=LaunchConfiguration('use_respawn'), + log_level=LaunchConfiguration('bridge_log_level'), + bridge_params=LaunchConfiguration('bridge_params'), ) # Create the launch description and populate @@ -128,7 +111,7 @@ def generate_launch_description(): ld.add_action(declare_world_sdf_file_cmd) ld.add_action(declare_world_sdf_string_cmd) # Add the actions to launch all of the bridge + gz_server nodes - ld.add_action(gz_server_description) + ld.add_action(gz_server_action) ld.add_action(ros_gz_bridge_action) return ld diff --git a/ros_gz_sim/ros_gz_sim/actions/gzserver.py b/ros_gz_sim/ros_gz_sim/actions/gzserver.py index 64461baf..12d288f4 100644 --- a/ros_gz_sim/ros_gz_sim/actions/gzserver.py +++ b/ros_gz_sim/ros_gz_sim/actions/gzserver.py @@ -18,13 +18,14 @@ from typing import Optional from launch.action import Action -from launch.actions import IncludeLaunchDescription +from launch.actions import GroupAction +from launch.conditions import IfCondition from launch.frontend import Entity, expose_action, Parser from launch.launch_context import LaunchContext -from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.some_substitutions_type import SomeSubstitutionsType -from launch.substitutions import PathJoinSubstitution -from launch_ros.substitutions import FindPackageShare +from launch.substitutions import LaunchConfiguration, PythonExpression +from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes, Node +from launch_ros.descriptions import ComposableNode @expose_action('gz_server') @@ -110,15 +111,70 @@ def parse(cls, entity: Entity, parser: Parser): def execute(self, context: LaunchContext) -> Optional[List[Action]]: """Execute the action.""" - gz_server_description = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - [PathJoinSubstitution([FindPackageShare('ros_gz_sim'), - 'launch', - 'gz_server.launch.py'])]), - launch_arguments=[('world_sdf_file', self.__world_sdf_file), - ('world_sdf_string', self.__world_sdf_string), - ('container_name', self.__container_name), - ('create_own_container', self.__create_own_container), - ('use_composition', self.__use_composition), ]) - - return [gz_server_description] + if isinstance(self.__use_composition, list): + self.__use_composition = self.__use_composition[0] + + if isinstance(self.__create_own_container, list): + self.__create_own_container = self.__create_own_container[0] + + # Standard node configuration + load_nodes = GroupAction( + condition=IfCondition(PythonExpression(['not ', self.__use_composition])), + actions=[ + Node( + package='ros_gz_sim', + executable='gzserver', + output='screen', + parameters=[{'world_sdf_file': LaunchConfiguration('world_sdf_file'), + 'world_sdf_string': LaunchConfiguration('world_sdf_string')}], + ), + ], + ) + + # Composable node with container configuration + load_composable_nodes_with_container = ComposableNodeContainer( + condition=IfCondition( + PythonExpression([self.__use_composition, ' and ', self.__create_own_container]) + ), + name=self.__container_name, + namespace='', + package='rclcpp_components', + executable='component_container', + composable_node_descriptions=[ + ComposableNode( + package='ros_gz_sim', + plugin='ros_gz_sim::GzServer', + name='gz_server', + parameters=[{'world_sdf_file': LaunchConfiguration('world_sdf_file'), + 'world_sdf_string': LaunchConfiguration('world_sdf_string')}], + extra_arguments=[{'use_intra_process_comms': True}], + ), + ], + output='screen', + ) + + # Composable node without container configuration + load_composable_nodes_without_container = LoadComposableNodes( + condition=IfCondition( + PythonExpression( + [self.__use_composition, ' and not ', self.__create_own_container] + ) + ), + target_container=self.__container_name, + composable_node_descriptions=[ + ComposableNode( + package='ros_gz_sim', + plugin='ros_gz_sim::GzServer', + name='gz_server', + parameters=[{'world_sdf_file': LaunchConfiguration('world_sdf_file'), + 'world_sdf_string': LaunchConfiguration('world_sdf_string')}], + extra_arguments=[{'use_intra_process_comms': True}], + ), + ], + ) + + return [ + load_nodes, + load_composable_nodes_with_container, + load_composable_nodes_without_container + ]