changed discovery process in ROS2

fkie · Aug 18, 2023 · 5dd24b5 · 5dd24b5
1 parent 329a475
commit 5dd24b5
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Showing 19 changed files with 219 additions and 835 deletions.
diff --git a/fkie_master_discovery/CMakeLists.txt b/fkie_master_discovery/CMakeLists.txt
@@ -68,13 +68,10 @@ if ( ament_cmake_FOUND )
         rmw_fastrtps_shared_cpp
         lifecycle_msgs
     )
-    list(APPEND DEPS rmw_dds_common)
     list(APPEND DEPS rmw_fastrtps_cpp)
-    list(APPEND DEPS rosidl_typesupport_fastrtps_cpp)
     include_directories(${catkin_INCLUDE_DIRS})
     add_executable(master_discovery
         src/eprosima_pariticipant_listener.cpp
-        src/message_type_support.cpp
     )
     ament_target_dependencies(master_discovery ${DEPS})
 

diff --git a/fkie_master_discovery/package.xml b/fkie_master_discovery/package.xml
@@ -34,8 +34,6 @@
   <depend condition="$ROS_VERSION == 2">lifecycle_msgs</depend>
   <depend condition="$ROS_VERSION == 2">rclcpp</depend>
   <depend condition="$ROS_VERSION == 2">rclcpp_lifecycle</depend>
-  <depend condition="$ROS_VERSION == 2">rosidl_typesupport_fastrtps_cpp</depend>
-  <depend condition="$ROS_VERSION == 2">rmw_dds_common</depend>
   <depend condition="$ROS_VERSION == 2">rmw_fastrtps_cpp</depend>
   <depend condition="$ROS_VERSION == 2">rmw_fastrtps_shared_cpp</depend>
 

diff --git a/fkie_master_discovery/src/eprosima_pariticipant_listener.cpp b/fkie_master_discovery/src/eprosima_pariticipant_listener.cpp
diff --git a/fkie_master_discovery/src/message_type_support.cpp b/fkie_master_discovery/src/message_type_support.cpp
diff --git a/fkie_master_discovery/src/message_type_support.hpp b/fkie_master_discovery/src/message_type_support.hpp
diff --git a/fkie_multimaster_msgs/CMakeLists.txt b/fkie_multimaster_msgs/CMakeLists.txt
@@ -23,10 +23,8 @@ if ( ament_cmake_FOUND )
       "msg2/DiscoveredState.msg"
       "msg2/Endpoint.msg"
       "msg2/Gid.msg"
-      "msg2/NodeEntitiesInfo.msg"
       "msg2/ParticipantEntitiesInfo.msg"
       "msg2/Qos.msg"
-      "msg2/TopicEntity.msg"
       "srv/ListNodes.srv"
       "srv/LoadLaunch.srv"
       "srv/Task.srv"

diff --git a/fkie_multimaster_msgs/msg2/DiscoveredState.msg b/fkie_multimaster_msgs/msg2/DiscoveredState.msg
@@ -1,8 +1,2 @@
-# true if massage contains the complete discovered status.
-bool full_state
-
-# If full_state is False, the list contains only new or updated participants.
+# The list of all participants
 ParticipantEntitiesInfo[] participants
-
-# Removed_participants list is always empty if full_state is True, otherwise the list contains removed participants.
-Gid[] removed_participants
diff --git a/fkie_multimaster_msgs/msg2/NodeEntitiesInfo.msg b/fkie_multimaster_msgs/msg2/NodeEntitiesInfo.msg
diff --git a/fkie_multimaster_msgs/msg2/ParticipantEntitiesInfo.msg b/fkie_multimaster_msgs/msg2/ParticipantEntitiesInfo.msg
@@ -1,5 +1,3 @@
 Gid guid
 string enclave
 string[] unicast_locators
-NodeEntitiesInfo[] node_entities
-TopicEntity[] topic_entities
diff --git a/fkie_multimaster_msgs/msg2/TopicEntity.msg b/fkie_multimaster_msgs/msg2/TopicEntity.msg
diff --git a/fkie_multimaster_pylib/fkie_multimaster_pylib/crossbar/base_session.py b/fkie_multimaster_pylib/fkie_multimaster_pylib/crossbar/base_session.py
@@ -64,7 +64,6 @@ class CrossbarBaseSession(ApplicationSession):
 
     def __init__(self, loop: asyncio.AbstractEventLoop, realm: str = 'ros', port: int = 11911, test_env=False) -> None:
         self.port = port
-        self.realm = realm
         self.crossbar_loop = loop
         self._on_shutdown = False
         self._crossbar_subscriptions = []  # list of tuples (topic, handler)

diff --git a/fkie_multimaster_pylib/fkie_multimaster_pylib/crossbar/runtime_interface.py b/fkie_multimaster_pylib/fkie_multimaster_pylib/crossbar/runtime_interface.py
@@ -175,6 +175,7 @@ def __init__(self, id: str, name: str) -> None:
         self.screens: List[str] = []
         self.parameters: List[RosParameter] = []
         self.system_node = False
+        self.enclave = ''
 
     def __str__(self):
         return json.dumps(dict(self), ensure_ascii=False)

diff --git a/fkie_multimaster_pylib/fkie_multimaster_pylib/system/screen.py b/fkie_multimaster_pylib/fkie_multimaster_pylib/system/screen.py
@@ -174,7 +174,9 @@ def test_screen() -> None:
     # try to fix empty LD_LIBRARY_PATH path issues in screen
     if os.environ['LD_LIBRARY_PATH']:
         os.environ['LD_LIBRARY_PATH_SCRREN'] = os.environ['LD_LIBRARY_PATH']
-    with open('%s/screen.cfg' % SETTINGS_PATH, 'w') as sf:
+    if not os.path.exists(SETTINGS_PATH):
+        os.makedirs(SETTINGS_PATH)
+    with open(os.path.join(SETTINGS_PATH, 'screen.cfg'), 'w') as sf:
         sf.write('logfile flush 0\n')
         sf.write('setenv LD_LIBRARY_PATH $LD_LIBRARY_PATH_SCRREN\n')
 

diff --git a/fkie_node_manager_daemon/fkie_node_manager_daemon/launch_servicer.py b/fkie_node_manager_daemon/fkie_node_manager_daemon/launch_servicer.py
@@ -931,7 +931,7 @@ def call_service(self, request_json: LaunchCallService) -> None:
                 cli.wait_for_service()
             Log.debug('requester: making request: %r' % service_request)
             future = cli.call_async(service_request)
-            rclpy.spin_until_future_complete(nmd.ros_node, future)
+            rclpy.spin_until_future_complete(nmd.ros_node, future, nmd.launcher.executor, 30.0)
             if future.result() is not None:
                 result.data = message_to_ordereddict(future.result())
                 result.valid = True

diff --git a/fkie_node_manager_daemon/fkie_node_manager_daemon/launcher.py b/fkie_node_manager_daemon/fkie_node_manager_daemon/launcher.py
@@ -44,7 +44,6 @@
 from ros2run.api import run_executable
 import composition_interfaces.srv
 
-from fkie_multimaster_pylib.grpc_helper import remote
 from .launch_config import LaunchConfig
 from .launch_config import LaunchNodeWrapper
 from launch.launch_context import LaunchContext