Launch gz_spawn_model from xml (#551)

Spawn models from XML.
Signed-off-by: Carlos Agüero <[email protected]>
Co-authored-by: Addisu Z. Taddese <[email protected]>

ros_gz_sim/CMakeLists.txt

@@ -99,6 +99,7 @@ install(FILES
 install(FILES
   "launch/gz_server.launch"
   "launch/gz_server.launch.py"
+  "launch/gz_spawn_model.launch"
   "launch/gz_spawn_model.launch.py"
   "launch/ros_gz_sim.launch"
   "launch/ros_gz_sim.launch.py"

ros_gz_sim/launch/gz_spawn_model.launch

@@ -0,0 +1,28 @@
+<launch>
+  <arg name="world" default="" />
+  <arg name="file" default="" />
+  <arg name="xml_string" default="" />
+  <arg name="topic" default="" />
+  <arg name="name" default="" />
+  <arg name="allow_renaming" default="False" />
+  <arg name="x" default="" />
+  <arg name="y" default="" />
+  <arg name="z" default="" />
+  <arg name="roll" default="" />
+  <arg name="pitch" default="" />
+  <arg name="yaw" default="" />
+  <gz_spawn_model 
+    world="$(var world)"
+    file="$(var file)"
+    xml_string="$(var xml_string)"
+    topic="$(var topic)"
+    name="$(var name)"
+    allow_renaming="$(var allow_renaming)"
+    x="$(var x)"
+    y="$(var y)"
+    z="$(var z)"
+    roll="$(var roll)"
+    pitch="$(var pitch)"
+    yaw="$(var yaw)">
+  </gz_spawn_model>
+</launch>

ros_gz_sim/ros_gz_sim/actions/__init__.py

@@ -14,9 +14,11 @@
 
 """Actions module."""
 
+from .gz_spawn_model import GzSpawnModel
 from .gzserver import GzServer
 
 
 __all__ = [
+    'GzSpawnModel',
     'GzServer',
 ]

ros_gz_sim/ros_gz_sim/actions/gz_spawn_model.py

@@ -0,0 +1,207 @@
+# 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.
+
+"""Module for the gz_spawn_model action."""
+
+from typing import List
+from typing import Optional
+
+from launch.action import Action
+from launch.actions import IncludeLaunchDescription
+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
+
+
+@expose_action('gz_spawn_model')
+class GzSpawnModel(Action):
+    """Action that executes a gz_spawn_model ROS node."""
+
+    def __init__(
+        self,
+        *,
+        world: Optional[SomeSubstitutionsType] = None,
+        file: Optional[SomeSubstitutionsType] = None,
+        xml_string: Optional[SomeSubstitutionsType] = None,
+        topic: Optional[SomeSubstitutionsType] = None,
+        name: Optional[SomeSubstitutionsType] = None,
+        allow_renaming: Optional[SomeSubstitutionsType] = None,
+        x: Optional[SomeSubstitutionsType] = None,
+        y: Optional[SomeSubstitutionsType] = None,
+        z: Optional[SomeSubstitutionsType] = None,
+        roll: Optional[SomeSubstitutionsType] = None,
+        pitch: Optional[SomeSubstitutionsType] = None,
+        yaw: Optional[SomeSubstitutionsType] = None,
+        **kwargs
+    ) -> None:
+        """
+        Construct a gz_spawn_model action.
+
+        All arguments are forwarded to `ros_gz_sim.launch.gz_spawn_model.launch.py`,
+        so see the documentation of that class for further details.
+
+        :param: world World name.
+        :param: file SDF filename.
+        :param: xml_string XML string.
+        :param: topic Get XML from this topic.
+        :param: name Name of the entity.
+        :param: allow_renaming Whether the entity allows renaming or not.
+        :param: x X coordinate.
+        :param: y Y coordinate.
+        :param: z Z coordinate.
+        :param: roll Roll orientation.
+        :param: pitch Pitch orientation.
+        :param: yaw Yaw orientation.
+        """
+        super().__init__(**kwargs)
+        self.__world = world
+        self.__file = file
+        self.__xml_string = xml_string
+        self.__topic = topic
+        self.__name = name
+        self.__allow_renaming = allow_renaming
+        self.__x = x
+        self.__y = y
+        self.__z = z
+        self.__roll = roll
+        self.__pitch = pitch
+        self.__yaw = yaw
+
+    @classmethod
+    def parse(cls, entity: Entity, parser: Parser):
+        """Parse gz_spawn_model."""
+        _, kwargs = super().parse(entity, parser)
+
+        world = entity.get_attr(
+            'world', data_type=str,
+            optional=True)
+
+        file = entity.get_attr(
+            'file', data_type=str,
+            optional=True)
+
+        xml_string = entity.get_attr(
+            'xml_string', data_type=str,
+            optional=True)
+
+        topic = entity.get_attr(
+            'topic', data_type=str,
+            optional=True)
+
+        name = entity.get_attr(
+            'name', data_type=str,
+            optional=True)
+
+        allow_renaming = entity.get_attr(
+            'allow_renaming', data_type=str,
+            optional=True)
+
+        x = entity.get_attr(
+            'x', data_type=str,
+            optional=True)
+
+        y = entity.get_attr(
+            'y', data_type=str,
+            optional=True)
+
+        z = entity.get_attr(
+            'z', data_type=str,
+            optional=True)
+
+        roll = entity.get_attr(
+            'roll', data_type=str,
+            optional=True)
+
+        pitch = entity.get_attr(
+            'pitch', data_type=str,
+            optional=True)
+
+        yaw = entity.get_attr(
+            'yaw', data_type=str,
+            optional=True)
+
+        if isinstance(world, str):
+            world = parser.parse_substitution(world)
+            kwargs['world'] = world
+
+        if isinstance(file, str):
+            file = parser.parse_substitution(file)
+            kwargs['file'] = file
+
+        if isinstance(xml_string, str):
+            xml_string = parser.parse_substitution(xml_string)
+            kwargs['xml_string'] = xml_string
+
+        if isinstance(topic, str):
+            topic = parser.parse_substitution(topic)
+            kwargs['topic'] = topic
+
+        if isinstance(name, str):
+            name = parser.parse_substitution(name)
+            kwargs['name'] = name
+
+        if isinstance(allow_renaming, str):
+            allow_renaming = parser.parse_substitution(allow_renaming)
+            kwargs['allow_renaming'] = allow_renaming
+
+        if isinstance(x, str):
+            x = parser.parse_substitution(x)
+            kwargs['x'] = x
+
+        if isinstance(y, str):
+            y = parser.parse_substitution(y)
+            kwargs['y'] = y
+
+        if isinstance(z, str):
+            z = parser.parse_substitution(z)
+            kwargs['z'] = z
+
+        if isinstance(roll, str):
+            roll = parser.parse_substitution(roll)
+            kwargs['roll'] = roll
+
+        if isinstance(pitch, str):
+            pitch = parser.parse_substitution(pitch)
+            kwargs['pitch'] = pitch
+
+        if isinstance(yaw, str):
+            yaw = parser.parse_substitution(yaw)
+            kwargs['yaw'] = yaw
+
+        return cls, kwargs
+
+    def execute(self, context: LaunchContext) -> Optional[List[Action]]:
+        """Execute the action."""
+        gz_spawn_model_description = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                [PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
+                                       'launch',
+                                       'gz_spawn_model.launch.py'])]),
+            launch_arguments=[('world', self.__world),
+                              ('file', self.__file),
+                              ('xml_string',   self.__xml_string),
+                              ('topic',  self.__topic),
+                              ('name', self.__name),
+                              ('allow_renaming', self.__allow_renaming),
+                              ('x',   self.__x),
+                              ('y',  self.__y),
+                              ('z', self.__z),
+                              ('roll', self.__roll),
+                              ('pitch',   self.__pitch),
+                              ('yaw',  self.__yaw), ])
+
+        return [gz_spawn_model_description]