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Launch gzserver and the bridge as composable nodes (#528)
* Add gzserver with ability to load an SDF file or string Signed-off-by: Addisu Z. Taddese <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,109 @@ | ||
| # Copyright 2024 Open Source Robotics Foundation, Inc. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
|
||
| """Launch ros_gz bridge in a component container.""" | ||
|
|
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| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument, GroupAction | ||
| from launch.conditions import IfCondition | ||
| from launch.substitutions import LaunchConfiguration, PythonExpression | ||
| from launch_ros.actions import ComposableNodeContainer, Node | ||
| from launch_ros.descriptions import ComposableNode | ||
|
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||
|
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| def generate_launch_description(): | ||
|
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| config_file = LaunchConfiguration('config_file') | ||
| container_name = LaunchConfiguration('container_name') | ||
| namespace = LaunchConfiguration('namespace') | ||
| use_composition = LaunchConfiguration('use_composition') | ||
| use_respawn = LaunchConfiguration('use_respawn') | ||
| log_level = LaunchConfiguration('log_level') | ||
|
|
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| declare_config_file_cmd = DeclareLaunchArgument( | ||
| 'config_file', default_value='', description='YAML config file' | ||
| ) | ||
|
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| declare_container_name_cmd = DeclareLaunchArgument( | ||
| 'container_name', | ||
| default_value='ros_gz_container', | ||
| description='Name of container that nodes will load in if use composition', | ||
| ) | ||
|
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| declare_namespace_cmd = DeclareLaunchArgument( | ||
| 'namespace', default_value='', description='Top-level namespace' | ||
| ) | ||
|
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| declare_use_composition_cmd = DeclareLaunchArgument( | ||
| 'use_composition', default_value='False', description='Use composed bringup if True' | ||
| ) | ||
|
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| declare_use_respawn_cmd = DeclareLaunchArgument( | ||
| 'use_respawn', | ||
| default_value='False', | ||
| description='Whether to respawn if a node crashes. Applied when composition is disabled.', | ||
| ) | ||
|
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| declare_log_level_cmd = DeclareLaunchArgument( | ||
| 'log_level', default_value='info', description='log level' | ||
| ) | ||
|
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| load_nodes = GroupAction( | ||
| condition=IfCondition(PythonExpression(['not ', use_composition])), | ||
| actions=[ | ||
| Node( | ||
| package='ros_gz_bridge', | ||
| executable='bridge_node', | ||
| output='screen', | ||
| respawn=use_respawn, | ||
| respawn_delay=2.0, | ||
| parameters=[{'config_file': config_file}], | ||
| arguments=['--ros-args', '--log-level', log_level], | ||
| ), | ||
| ], | ||
| ) | ||
|
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| load_composable_nodes = ComposableNodeContainer( | ||
| condition=IfCondition(use_composition), | ||
| name=container_name, | ||
| namespace=namespace, | ||
| package='rclcpp_components', | ||
| executable='component_container', | ||
| composable_node_descriptions=[ | ||
| ComposableNode( | ||
| package='ros_gz_bridge', | ||
| plugin='ros_gz_bridge::RosGzBridge', | ||
| name='ros_gz_bridge', | ||
| parameters=[{'config_file': config_file}], | ||
| extra_arguments=[{'use_intra_process_comms': True}], | ||
| ), | ||
| ], | ||
| output='screen', | ||
| ) | ||
|
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| # Create the launch description and populate | ||
| ld = LaunchDescription() | ||
|
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| # Declare the launch options | ||
| ld.add_action(declare_config_file_cmd) | ||
| ld.add_action(declare_container_name_cmd) | ||
| ld.add_action(declare_namespace_cmd) | ||
| ld.add_action(declare_use_composition_cmd) | ||
| ld.add_action(declare_use_respawn_cmd) | ||
| ld.add_action(declare_log_level_cmd) | ||
| # Add the actions to launch all of the bridge nodes | ||
| ld.add_action(load_nodes) | ||
| ld.add_action(load_composable_nodes) | ||
|
|
||
| return ld |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,12 @@ | ||
| <launch> | ||
| <arg name="world_sdf_file" default="empty.sdf" /> | ||
| <arg name="world_sdf_string" default="" /> | ||
| <arg name="container_name" default="ros_gz_container" /> | ||
| <arg name="use_composition" default="False" /> | ||
| <gz_server | ||
| world_sdf_file="$(var world_sdf_file)" | ||
| world_sdf_string="$(var world_sdf_string)" | ||
| container_name="$(var container_name)" | ||
| use_composition="$(var use_composition)"> | ||
| </gz_server> | ||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,80 @@ | ||
| # Copyright 2024 Open Source Robotics Foundation, Inc. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
|
||
| """Launch gz_server in a component container.""" | ||
|
|
||
| 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, Node | ||
| from launch_ros.descriptions import ComposableNode | ||
|
|
||
|
|
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| def generate_launch_description(): | ||
|
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| declare_world_sdf_file_cmd = DeclareLaunchArgument( | ||
| 'world_sdf_file', default_value=TextSubstitution(text=''), | ||
| description='Path to the SDF world file') | ||
| declare_world_sdf_string_cmd = DeclareLaunchArgument( | ||
| 'world_sdf_string', default_value=TextSubstitution(text=''), | ||
| description='SDF world string') | ||
| declare_container_name_cmd = DeclareLaunchArgument( | ||
| 'container_name', default_value='ros_gz_container', | ||
| description='Name of container that nodes will load in if use composition',) | ||
| declare_use_composition_cmd = DeclareLaunchArgument( | ||
| 'use_composition', default_value='False', | ||
| description='Use composed bringup if True') | ||
|
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| 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')}], | ||
| ) | ||
|
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| load_composable_nodes = ComposableNodeContainer( | ||
| condition=IfCondition(LaunchConfiguration('use_composition')), | ||
| 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', | ||
| ) | ||
|
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| # Create the launch description and populate | ||
| ld = LaunchDescription() | ||
|
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| # Declare the launch options | ||
| ld.add_action(declare_world_sdf_file_cmd) | ||
| ld.add_action(declare_world_sdf_string_cmd) | ||
| ld.add_action(declare_container_name_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) | ||
|
|
||
| return ld |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,94 @@ | ||
| # Copyright 2024 Open Source Robotics Foundation, Inc. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
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| """Launch create to spawn models in gz sim.""" | ||
|
|
||
| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument | ||
| from launch.substitutions import LaunchConfiguration, TextSubstitution | ||
| from launch_ros.actions import Node | ||
|
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||
|
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| def generate_launch_description(): | ||
|
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| world = LaunchConfiguration('world') | ||
| file = LaunchConfiguration('file') | ||
| xml_string = LaunchConfiguration('string') | ||
| topic = LaunchConfiguration('topic') | ||
| name = LaunchConfiguration('name') | ||
| allow_renaming = LaunchConfiguration('allow_renaming') | ||
| x = LaunchConfiguration('x', default='0.0') | ||
| y = LaunchConfiguration('y', default='0.0') | ||
| z = LaunchConfiguration('z', default='0.0') | ||
| roll = LaunchConfiguration('R', default='0.0') | ||
| pitch = LaunchConfiguration('P', default='0.0') | ||
| yaw = LaunchConfiguration('Y', default='0.0') | ||
|
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| declare_world_cmd = DeclareLaunchArgument( | ||
| 'world', default_value=TextSubstitution(text=''), | ||
| description='World name') | ||
| declare_file_cmd = DeclareLaunchArgument( | ||
| 'file', default_value=TextSubstitution(text=''), | ||
| description='SDF filename') | ||
| declare_xml_string_cmd = DeclareLaunchArgument( | ||
| 'string', | ||
| default_value='', | ||
| description='XML string', | ||
| ) | ||
| declare_topic_cmd = DeclareLaunchArgument( | ||
| 'topic', default_value=TextSubstitution(text=''), | ||
| description='Get XML from this topic' | ||
| ) | ||
| declare_name_cmd = DeclareLaunchArgument( | ||
| 'name', default_value=TextSubstitution(text=''), | ||
| description='Name of the entity' | ||
| ) | ||
| declare_allow_renaming_cmd = DeclareLaunchArgument( | ||
| 'allow_renaming', default_value='False', | ||
| description='Whether the entity allows renaming or not' | ||
| ) | ||
|
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| load_nodes = Node( | ||
| package='ros_gz_sim', | ||
| executable='create', | ||
| output='screen', | ||
| parameters=[{'world': world, | ||
| 'file': file, | ||
| 'string': xml_string, | ||
| 'topic': topic, | ||
| 'name': name, | ||
| 'allow_renaming': allow_renaming, | ||
| 'x': x, | ||
| 'y': y, | ||
| 'z': z, | ||
| 'R': roll, | ||
| 'P': pitch, | ||
| 'Y': yaw, | ||
| }], | ||
| ) | ||
|
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| # Create the launch description and populate | ||
| ld = LaunchDescription() | ||
|
|
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| # Declare the launch options | ||
| ld.add_action(declare_world_cmd) | ||
| ld.add_action(declare_file_cmd) | ||
| ld.add_action(declare_xml_string_cmd) | ||
| ld.add_action(declare_topic_cmd) | ||
| ld.add_action(declare_name_cmd) | ||
| ld.add_action(declare_allow_renaming_cmd) | ||
| # Add the actions to launch all of the create nodes | ||
| ld.add_action(load_nodes) | ||
|
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| return ld |
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