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Move gzserver logic to its action (backport #646) #649

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Nov 22, 2024
Merged

Move gzserver logic to its action (backport #646) #649

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63 changes: 10 additions & 53 deletions ros_gz_sim/launch/gz_server.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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():
Expand All @@ -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
Expand All @@ -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
55 changes: 19 additions & 36 deletions ros_gz_sim/launch/ros_gz_sim.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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'
)
Expand Down Expand Up @@ -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
Expand All @@ -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
88 changes: 72 additions & 16 deletions ros_gz_sim/ros_gz_sim/actions/gzserver.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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')
Expand Down Expand Up @@ -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
]
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