Bridge as a gz sim system [rolling]

ros_gz_bridge/CMakeLists.txt

@@ -13,6 +13,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
+find_package(resource_retriever REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
 
 if(NOT DEFINED ENV{GZ_VERSION})
@@ -120,6 +121,7 @@ add_library(${bridge_lib}
 target_link_libraries(${bridge_lib}
   ${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}::core
   ${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER}::core
+  resource_retriever::resource_retriever
 )
 
 ament_target_dependencies(${bridge_lib}
@@ -309,6 +311,11 @@ if(BUILD_TESTING)
     DESTINATION lib/${PROJECT_NAME}
   )
 
+  install(DIRECTORY
+    test/config
+    DESTINATION share/${PROJECT_NAME}/test/
+  )
+
   add_launch_test(test/launch/test_ros_subscriber.launch.py
     TIMEOUT 200
     ARGS "gz_msgs_ver:=${GZ_MSGS_VERSION_FULL}"
@@ -341,6 +348,7 @@ ament_export_targets(export_${PROJECT_NAME})
 # specific order: dependents before dependencies
 ament_export_dependencies(rclcpp)
 ament_export_dependencies(rclcpp_components)
+ament_export_dependencies(resource_retriever)
 ament_export_dependencies(${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER})
 ament_export_dependencies(${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER})
 ament_export_dependencies(yaml_cpp_vendor)

ros_gz_bridge/include/ros_gz_bridge/ros_gz_bridge.hpp

@@ -68,6 +68,9 @@ class RosGzBridge : public rclcpp::Node
 
   /// \brief Timer to control periodic callback
   rclcpp::TimerBase::SharedPtr heartbeat_timer_;
+
+  /// \brief Whether the config_file parameter was parsed or not.
+  bool config_file_parsed_{false};
 };
 }  // namespace ros_gz_bridge
 

ros_gz_bridge/package.xml

@@ -22,6 +22,7 @@
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
+  <depend>resource_retriever</depend>
   <depend>ros_gz_interfaces</depend>
   <depend>rosgraph_msgs</depend>
   <depend>sensor_msgs</depend>

ros_gz_bridge/src/bridge_config.cpp

@@ -20,6 +20,7 @@
 #include <vector>
 
 #include <rclcpp/rclcpp.hpp>
+#include <resource_retriever/retriever.hpp>
 #include <ros_gz_bridge/bridge_config.hpp>
 
 namespace ros_gz_bridge
@@ -174,30 +175,48 @@ std::vector<BridgeConfig> readFromYamlFile(const std::string & filename)
 {
   std::vector<BridgeConfig> ret;
   std::ifstream in(filename);
+  resource_retriever::Retriever retriever;
+  resource_retriever::MemoryResource res;
 
   auto logger = rclcpp::get_logger("readFromYamlFile");
-  if (!in.is_open()) {
+
+  if (in.is_open()) {
+    // Compute file size to warn on empty configuration
+    const auto fbegin = in.tellg();
+    in.seekg(0, std::ios::end);
+    const auto fend = in.tellg();
+    const auto fsize = fend - fbegin;
+
+    if (fsize == 0) {
+      RCLCPP_ERROR(
+        logger,
+        "Could not parse config: file empty [%s]", filename.c_str());
+      return ret;
+    }
+
+    in.seekg(0, std::ios::beg);
+    return readFromYaml(in);
+  }
+
+  try {
+    res = retriever.get(filename);
+  } catch (const resource_retriever::Exception & exc) {
     RCLCPP_ERROR(
       logger,
       "Could not parse config: failed to open file [%s]", filename.c_str());
     return ret;
   }
 
-  // Compute file size to warn on empty configuration
-  const auto fbegin = in.tellg();
-  in.seekg(0, std::ios::end);
-  const auto fend = in.tellg();
-  const auto fsize = fend - fbegin;
-
-  if (fsize == 0) {
+  // Sanity check: Avoid empty configuration.
+  if (res.size == 0) {
     RCLCPP_ERROR(
       logger,
       "Could not parse config: file empty [%s]", filename.c_str());
     return ret;
   }
 
-  in.seekg(0, std::ios::beg);
-  return readFromYaml(in);
+  std::string str(reinterpret_cast<char *>(res.data.get()), res.size);
+  return readFromYamlString(str);
 }
 
 std::vector<BridgeConfig> readFromYamlString(const std::string & data)

ros_gz_bridge/src/ros_gz_bridge.cpp

@@ -12,11 +12,11 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <ros_gz_bridge/ros_gz_bridge.hpp>
-
 #include <memory>
 #include <string>
 
+#include <ros_gz_bridge/ros_gz_bridge.hpp>
+
 #include "bridge_handle_ros_to_gz.hpp"
 #include "bridge_handle_gz_to_ros.hpp"
 
@@ -43,7 +43,8 @@ void RosGzBridge::spin()
   if (handles_.empty()) {
     std::string config_file;
     this->get_parameter("config_file", config_file);
-    if (!config_file.empty()) {
+    if (!config_file.empty() && !config_file_parsed_) {
+      config_file_parsed_ = true;
       auto entries = readFromYamlFile(config_file);
       for (const auto & entry : entries) {
         this->add_bridge(entry);

ros_gz_bridge/test/bridge_config.cpp

@@ -71,14 +71,14 @@ class BridgeConfig : public ::testing::Test
 TEST_F(BridgeConfig, Minimum)
 {
   auto results = ros_gz_bridge::readFromYamlFile("test/config/minimum.yaml");
-  EXPECT_EQ(4u, results.size());
+  ASSERT_EQ(4u, results.size());
 
   {
     auto config = results[0];
     EXPECT_EQ("chatter", config.ros_topic_name);
     EXPECT_EQ("chatter", config.gz_topic_name);
     EXPECT_EQ("std_msgs/msg/String", config.ros_type_name);
-    EXPECT_EQ("ignition.msgs.StringMsg", config.gz_type_name);
+    EXPECT_EQ("gz.msgs.StringMsg", config.gz_type_name);
     EXPECT_EQ(ros_gz_bridge::kDefaultPublisherQueue, config.publisher_queue_size);
     EXPECT_EQ(ros_gz_bridge::kDefaultSubscriberQueue, config.subscriber_queue_size);
     EXPECT_EQ(ros_gz_bridge::kDefaultLazy, config.is_lazy);
@@ -88,7 +88,7 @@ TEST_F(BridgeConfig, Minimum)
     EXPECT_EQ("chatter_ros", config.ros_topic_name);
     EXPECT_EQ("chatter_ros", config.gz_topic_name);
     EXPECT_EQ("std_msgs/msg/String", config.ros_type_name);
-    EXPECT_EQ("ignition.msgs.StringMsg", config.gz_type_name);
+    EXPECT_EQ("gz.msgs.StringMsg", config.gz_type_name);
     EXPECT_EQ(ros_gz_bridge::kDefaultPublisherQueue, config.publisher_queue_size);
     EXPECT_EQ(ros_gz_bridge::kDefaultSubscriberQueue, config.subscriber_queue_size);
     EXPECT_EQ(ros_gz_bridge::kDefaultLazy, config.is_lazy);
@@ -98,7 +98,7 @@ TEST_F(BridgeConfig, Minimum)
     EXPECT_EQ("chatter_gz", config.ros_topic_name);
     EXPECT_EQ("chatter_gz", config.gz_topic_name);
     EXPECT_EQ("std_msgs/msg/String", config.ros_type_name);
-    EXPECT_EQ("ignition.msgs.StringMsg", config.gz_type_name);
+    EXPECT_EQ("gz.msgs.StringMsg", config.gz_type_name);
     EXPECT_EQ(ros_gz_bridge::kDefaultPublisherQueue, config.publisher_queue_size);
     EXPECT_EQ(ros_gz_bridge::kDefaultSubscriberQueue, config.subscriber_queue_size);
     EXPECT_EQ(ros_gz_bridge::kDefaultLazy, config.is_lazy);
@@ -108,7 +108,7 @@ TEST_F(BridgeConfig, Minimum)
     EXPECT_EQ("chatter_both_ros", config.ros_topic_name);
     EXPECT_EQ("chatter_both_gz", config.gz_topic_name);
     EXPECT_EQ("std_msgs/msg/String", config.ros_type_name);
-    EXPECT_EQ("ignition.msgs.StringMsg", config.gz_type_name);
+    EXPECT_EQ("gz.msgs.StringMsg", config.gz_type_name);
     EXPECT_EQ(ros_gz_bridge::kDefaultPublisherQueue, config.publisher_queue_size);
     EXPECT_EQ(ros_gz_bridge::kDefaultSubscriberQueue, config.subscriber_queue_size);
     EXPECT_EQ(ros_gz_bridge::kDefaultLazy, config.is_lazy);
@@ -117,15 +117,16 @@ TEST_F(BridgeConfig, Minimum)
 
 TEST_F(BridgeConfig, FullGz)
 {
-  auto results = ros_gz_bridge::readFromYamlFile("test/config/full.yaml");
+  auto results = ros_gz_bridge::readFromYamlFile(
+    "package://ros_gz_bridge/test/config/full.yaml");
   EXPECT_EQ(2u, results.size());
 
   {
     auto config = results[0];
     EXPECT_EQ("ros_chatter", config.ros_topic_name);
     EXPECT_EQ("gz_chatter", config.gz_topic_name);
     EXPECT_EQ("std_msgs/msg/String", config.ros_type_name);
-    EXPECT_EQ("ignition.msgs.StringMsg", config.gz_type_name);
+    EXPECT_EQ("gz.msgs.StringMsg", config.gz_type_name);
     EXPECT_EQ(6u, config.publisher_queue_size);
     EXPECT_EQ(5u, config.subscriber_queue_size);
     EXPECT_EQ(true, config.is_lazy);
@@ -137,7 +138,7 @@ TEST_F(BridgeConfig, FullGz)
     EXPECT_EQ("ros_chatter", config.ros_topic_name);
     EXPECT_EQ("gz_chatter", config.gz_topic_name);
     EXPECT_EQ("std_msgs/msg/String", config.ros_type_name);
-    EXPECT_EQ("ignition.msgs.StringMsg", config.gz_type_name);
+    EXPECT_EQ("gz.msgs.StringMsg", config.gz_type_name);
     EXPECT_EQ(20u, config.publisher_queue_size);
     EXPECT_EQ(10u, config.subscriber_queue_size);
     EXPECT_EQ(false, config.is_lazy);
@@ -195,7 +196,7 @@ TEST_F(BridgeConfig, ParseDirection)
       R"(
   - topic_name: foo
     ros_type_name: std_msgs/msg/String
-    gz_type_name: ignition.msgs.StringMsg)";
+    gz_type_name: gz.msgs.StringMsg)";
 
     auto results = ros_gz_bridge::readFromYamlString(yaml);
     EXPECT_EQ(ros_gz_bridge::BridgeDirection::BIDIRECTIONAL, results[0].direction);
@@ -206,7 +207,7 @@ TEST_F(BridgeConfig, ParseDirection)
       R"(
   - topic_name: foo
     ros_type_name: std_msgs/msg/String
-    gz_type_name: ignition.msgs.StringMsg
+    gz_type_name: gz.msgs.StringMsg
     direction: BIDIRECTIONAL
     )";
 
@@ -219,7 +220,7 @@ TEST_F(BridgeConfig, ParseDirection)
       R"(
   - topic_name: foo
     ros_type_name: std_msgs/msg/String
-    gz_type_name: ignition.msgs.StringMsg
+    gz_type_name: gz.msgs.StringMsg
     direction: ROS_TO_GZ
     )";
 
@@ -232,7 +233,7 @@ TEST_F(BridgeConfig, ParseDirection)
       R"(
   - topic_name: foo
     ros_type_name: std_msgs/msg/String
-    gz_type_name: ignition.msgs.StringMsg
+    gz_type_name: gz.msgs.StringMsg
     direction: GZ_TO_ROS
     )";
 
@@ -246,7 +247,7 @@ TEST_F(BridgeConfig, ParseDirection)
       R"(
   - topic_name: foo
     ros_type_name: std_msgs/msg/String
-    gz_type_name: ignition.msgs.StringMsg
+    gz_type_name: gz.msgs.StringMsg
     direction: foobar
     )";
 
@@ -267,7 +268,8 @@ TEST_F(BridgeConfig, InvalidFileDoesntExist)
 
 TEST_F(BridgeConfig, InvalidTopLevel)
 {
-  auto results = ros_gz_bridge::readFromYamlFile("test/config/invalid.yaml");
+  auto results = ros_gz_bridge::readFromYamlFile(
+    "package://ros_gz_bridge/test/config/invalid.yaml");
   EXPECT_EQ(0u, results.size());
   EXPECT_EQ(
     "Could not parse config: top level must be a YAML sequence",
@@ -276,9 +278,11 @@ TEST_F(BridgeConfig, InvalidTopLevel)
 
 TEST_F(BridgeConfig, EmptyYAML)
 {
-  auto results = ros_gz_bridge::readFromYamlFile("test/config/empty.yaml");
+  auto results = ros_gz_bridge::readFromYamlFile(
+    "package://ros_gz_bridge/test/config/empty.yaml");
   EXPECT_EQ(0u, results.size());
   EXPECT_EQ(
-    "Could not parse config: file empty [test/config/empty.yaml]",
+    "Could not parse config: file empty ["
+    "package://ros_gz_bridge/test/config/empty.yaml]",
     g_last_log_event.message);
 }

ros_gz_bridge/test/config/full.yaml

@@ -2,7 +2,7 @@
 - ros_topic_name: "ros_chatter"
   gz_topic_name: "gz_chatter"
   ros_type_name: "std_msgs/msg/String"
-  gz_type_name: "ignition.msgs.StringMsg"
+  gz_type_name: "gz.msgs.StringMsg"
   subscriber_queue: 5
   publisher_queue: 6
   lazy: true
@@ -11,7 +11,7 @@
 - ros_topic_name: "ros_chatter"
   gz_topic_name: "gz_chatter"
   ros_type_name: "std_msgs/msg/String"
-  gz_type_name: "ignition.msgs.StringMsg"
+  gz_type_name: "gz.msgs.StringMsg"
   subscriber_queue: 10
   publisher_queue: 20
   lazy: false

ros_gz_bridge/test/config/invalid.yaml

@@ -1,7 +1,7 @@
 ros_topic_name: "ros_chatter"
 gz_topic_name: "gz_chatter"
 ros_type_name: "std_msgs/msg/String"
-gz_type_name: "ignition.msgs.StringMsg"
+gz_type_name: "gz.msgs.StringMsg"
 subscriber_queue: 5
 publisher_queue: 6
 lazy: true

ros_gz_bridge/test/config/minimum.yaml

@@ -1,20 +1,20 @@
 # Set just topic name, applies to both
 - topic_name: "chatter"
   ros_type_name: "std_msgs/msg/String"
-  gz_type_name: "ignition.msgs.StringMsg"
+  gz_type_name: "gz.msgs.StringMsg"
 
 # Set just ROS topic name, applies to both
 - ros_topic_name: "chatter_ros"
   ros_type_name: "std_msgs/msg/String"
-  gz_type_name: "ignition.msgs.StringMsg"
+  gz_type_name: "gz.msgs.StringMsg"
 
 # Set just GZ topic name, applies to both
 - gz_topic_name: "chatter_gz"
   ros_type_name: "std_msgs/msg/String"
-  gz_type_name: "ignition.msgs.StringMsg"
+  gz_type_name: "gz.msgs.StringMsg"
 
 # Set each topic name explicitly
 - ros_topic_name: "chatter_both_ros"
   gz_topic_name: "chatter_both_gz"
   ros_type_name: "std_msgs/msg/String"
-  gz_type_name: "ignition.msgs.StringMsg"
+  gz_type_name: "gz.msgs.StringMsg"

ros_gz_sim/CMakeLists.txt

@@ -12,6 +12,7 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(ros_gz_bridge REQUIRED)
 find_package(std_msgs REQUIRED)
 
 if(NOT DEFINED ENV{GZ_VERSION})
@@ -86,6 +87,22 @@ install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION include/${PROJECT_NAME}
 )
 
+# ROS Gz bridge
+add_library(ros-gz-bridge-system SHARED src/ros_gz_bridge_system.cpp)
+target_link_libraries(ros-gz-bridge-system PUBLIC
+  gz-sim${GZ_SIM_VER}::core
+  rclcpp::rclcpp
+  ros_gz_bridge::ros_gz_bridge
+)
+target_include_directories(ros-gz-bridge-system PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/ros_gz_sim>"
+  "$<INSTALL_INTERFACE:include/ros_gz_sim>"
+)
+install(
+  TARGETS ros-gz-bridge-system
+  DESTINATION lib
+)
+
 configure_file(
   launch/gz_sim.launch.py.in
   launch/gz_sim.launch.py.configured

ros_gz_sim/package.xml

@@ -17,6 +17,7 @@
   <depend>ament_index_python</depend>
   <depend>libgflags-dev</depend>
   <depend>rclcpp</depend>
+  <depend>ros_gz_bridge</depend>
   <depend>std_msgs</depend>
 
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