From 6a920880710865f7918ee2ee81a90760c3953b3c Mon Sep 17 00:00:00 2001 From: Aarav Gupta Date: Thu, 21 Nov 2024 00:37:37 +0530 Subject: [PATCH] Add a way to pass extra parameters to ros_gz_bridge (#628) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Add bridge_params argument to ros_gz_bridge Signed-off-by: Aarav Gupta Signed-off-by: Alejandro Hernández Cordero Signed-off-by: Wiktor Bajor Co-authored-by: Alejandro Hernández Cordero Co-authored-by: Wiktor Bajor <69388767+Wiktor-99@users.noreply.github.com> (cherry picked from commit 558a1cfd55f9921e78a87c563d8ed847e9eae6bd) --- ros_gz_bridge/launch/ros_gz_bridge.launch | 4 +- ros_gz_bridge/launch/ros_gz_bridge.launch.py | 86 +++--------- .../ros_gz_bridge/actions/ros_gz_bridge.py | 126 +++++++++++++++--- ros_gz_sim/launch/ros_gz_sim.launch | 4 +- ros_gz_sim/launch/ros_gz_sim.launch.py | 33 +++-- ros_gz_sim/launch/ros_gz_spawn_model.launch | 4 +- .../launch/ros_gz_spawn_model.launch.py | 33 +++-- 7 files changed, 169 insertions(+), 121 deletions(-) diff --git a/ros_gz_bridge/launch/ros_gz_bridge.launch b/ros_gz_bridge/launch/ros_gz_bridge.launch index fa76221e..96757e4e 100644 --- a/ros_gz_bridge/launch/ros_gz_bridge.launch +++ b/ros_gz_bridge/launch/ros_gz_bridge.launch @@ -7,6 +7,7 @@ + + log_level="$(var log_level)" + bridge_params="$(var bridge_params)"> diff --git a/ros_gz_bridge/launch/ros_gz_bridge.launch.py b/ros_gz_bridge/launch/ros_gz_bridge.launch.py index 3e52dee6..e1690a84 100644 --- a/ros_gz_bridge/launch/ros_gz_bridge.launch.py +++ b/ros_gz_bridge/launch/ros_gz_bridge.launch.py @@ -15,24 +15,13 @@ """Launch ros_gz bridge in a component container.""" 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, LoadComposableNodes, Node -from launch_ros.descriptions import ComposableNode +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from ros_gz_bridge.actions import RosGzBridge 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') - log_level = LaunchConfiguration('log_level') - declare_bridge_name_cmd = DeclareLaunchArgument( 'bridge_name', description='Name of ros_gz_bridge node' ) @@ -74,57 +63,20 @@ def generate_launch_description(): 'log_level', default_value='info', description='log level' ) - load_nodes = GroupAction( - condition=IfCondition(PythonExpression(['not ', use_composition])), - actions=[ - Node( - package='ros_gz_bridge', - executable='bridge_node', - name=bridge_name, - namespace=namespace, - output='screen', - respawn=use_respawn, - respawn_delay=2.0, - parameters=[{'config_file': config_file}], - arguments=['--ros-args', '--log-level', log_level], - ), - ], - ) - - load_composable_nodes_with_container = ComposableNodeContainer( - condition=IfCondition( - PythonExpression([use_composition, ' and ', create_own_container])), - name=LaunchConfiguration('container_name'), - namespace='', - package='rclcpp_components', - executable='component_container', - composable_node_descriptions=[ - ComposableNode( - package='ros_gz_bridge', - plugin='ros_gz_bridge::RosGzBridge', - name=bridge_name, - namespace=namespace, - parameters=[{'config_file': config_file}], - extra_arguments=[{'use_intra_process_comms': True}], - ), - ], - output='screen', + declare_bridge_params_cmd = DeclareLaunchArgument( + 'bridge_params', default_value='', description='Extra parameters to pass to the bridge.' ) - load_composable_nodes_without_container = LoadComposableNodes( - condition=IfCondition( - PythonExpression([use_composition, ' and not ', create_own_container])), - target_container=container_name, - composable_node_descriptions=[ - ComposableNode( - package='ros_gz_bridge', - plugin='ros_gz_bridge::RosGzBridge', - name=bridge_name, - namespace=namespace, - parameters=[{'config_file': config_file}], - extra_arguments=[{'use_intra_process_comms': True}], - ), - ], + ros_gz_bridge_action = RosGzBridge( + 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'), + log_level=LaunchConfiguration('log_level'), + bridge_params=LaunchConfiguration('bridge_params') ) # Create the launch description and populate @@ -139,9 +91,7 @@ def generate_launch_description(): 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_with_container) - ld.add_action(load_composable_nodes_without_container) - + ld.add_action(declare_bridge_params_cmd) + # Add the ros_gz_bridge action + ld.add_action(ros_gz_bridge_action) return ld diff --git a/ros_gz_bridge/ros_gz_bridge/actions/ros_gz_bridge.py b/ros_gz_bridge/ros_gz_bridge/actions/ros_gz_bridge.py index 8459de4f..4cbee322 100644 --- a/ros_gz_bridge/ros_gz_bridge/actions/ros_gz_bridge.py +++ b/ros_gz_bridge/ros_gz_bridge/actions/ros_gz_bridge.py @@ -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 PythonExpression +from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes, Node +from launch_ros.descriptions import ComposableNode @expose_action('ros_gz_bridge') @@ -42,14 +43,12 @@ def __init__( use_composition: Optional[SomeSubstitutionsType] = 'False', use_respawn: Optional[SomeSubstitutionsType] = 'False', log_level: Optional[SomeSubstitutionsType] = 'info', + bridge_params: Optional[SomeSubstitutionsType] = '', **kwargs ) -> None: """ Construct a ros_gz bridge action. - All arguments are forwarded to `ros_gz_bridge.launch.ros_gz_bridge.launch.py`, - so see the documentation of that class for further details. - :param: bridge_name Name of ros_gz_bridge node :param: config_file YAML config file. :param: container_name Name of container that nodes will load in if use composition. @@ -58,6 +57,7 @@ def __init__( :param: use_composition Use composed bringup if True. :param: use_respawn Whether to respawn if a node crashes (when composition is disabled). :param: log_level Log level. + :param: bridge_params Extra parameters to pass to the bridge. """ super().__init__(**kwargs) self.__bridge_name = bridge_name @@ -68,6 +68,7 @@ def __init__( self.__use_composition = use_composition self.__use_respawn = use_respawn self.__log_level = log_level + self.__bridge_params = bridge_params @classmethod def parse(cls, entity: Entity, parser: Parser): @@ -106,6 +107,10 @@ def parse(cls, entity: Entity, parser: Parser): 'log_level', data_type=str, optional=True) + bridge_params = entity.get_attr( + 'bridge_params', data_type=str, + optional=True) + if isinstance(bridge_name, str): bridge_name = parser.parse_substitution(bridge_name) kwargs['bridge_name'] = bridge_name @@ -139,22 +144,99 @@ def parse(cls, entity: Entity, parser: Parser): log_level = parser.parse_substitution(log_level) kwargs['log_level'] = log_level + if isinstance(bridge_params, str): + bridge_params = parser.parse_substitution(bridge_params) + kwargs['bridge_params'] = bridge_params + return cls, kwargs def execute(self, context: LaunchContext) -> Optional[List[Action]]: """Execute the action.""" - ros_gz_bridge_description = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - [PathJoinSubstitution([FindPackageShare('ros_gz_bridge'), - 'launch', - 'ros_gz_bridge.launch.py'])]), - launch_arguments=[('bridge_name', self.__bridge_name), - ('config_file', self.__config_file), - ('container_name', self.__container_name), - ('create_own_container', self.__create_own_container), - ('namespace', self.__namespace), - ('use_composition', self.__use_composition), - ('use_respawn', self.__use_respawn), - ('log_level', self.__log_level), ]) - - return [ros_gz_bridge_description] + if hasattr(self.__bridge_params, 'perform'): + string_bridge_params = self.__bridge_params.perform(context) + elif isinstance(self.__bridge_params, list): + if hasattr(self.__bridge_params[0], 'perform'): + string_bridge_params = self.__bridge_params[0].perform(context) + else: + string_bridge_params = str(self.__bridge_params) + # Remove unnecessary symbols + simplified_bridge_params = string_bridge_params.translate( + {ord(i): None for i in '{} "\''} + ) + # Parse to dictionary + parsed_bridge_params = {} + if simplified_bridge_params: + bridge_params_pairs = simplified_bridge_params.split(',') + parsed_bridge_params = dict(pair.split(':') for pair in bridge_params_pairs) + + 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_bridge', + executable='bridge_node', + name=self.__bridge_name, + namespace=self.__namespace, + output='screen', + respawn=self.__use_respawn, + respawn_delay=2.0, + parameters=[{'config_file': self.__config_file, **parsed_bridge_params}], + arguments=['--ros-args', '--log-level', self.__log_level], + ), + ], + ) + + # 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_bridge', + plugin='ros_gz_bridge::RosGzBridge', + name=self.__bridge_name, + namespace=self.__namespace, + parameters=[{'config_file': self.__config_file, **parsed_bridge_params}], + 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_bridge', + plugin='ros_gz_bridge::RosGzBridge', + name=self.__bridge_name, + namespace=self.__namespace, + parameters=[{'config_file': self.__config_file, **parsed_bridge_params}], + extra_arguments=[{'use_intra_process_comms': True}], + ), + ], + ) + + return [ + load_nodes, + load_composable_nodes_with_container, + load_composable_nodes_without_container + ] diff --git a/ros_gz_sim/launch/ros_gz_sim.launch b/ros_gz_sim/launch/ros_gz_sim.launch index 6130ce0d..e39f10b6 100644 --- a/ros_gz_sim/launch/ros_gz_sim.launch +++ b/ros_gz_sim/launch/ros_gz_sim.launch @@ -7,6 +7,7 @@ + + log_level="$(var log_level)" + bridge_params="$(var bridge_params)"> diff --git a/ros_gz_sim/launch/ros_gz_sim.launch.py b/ros_gz_sim/launch/ros_gz_sim.launch.py index aba047ee..6b3650cf 100644 --- a/ros_gz_sim/launch/ros_gz_sim.launch.py +++ b/ros_gz_sim/launch/ros_gz_sim.launch.py @@ -19,6 +19,7 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration, PathJoinSubstitution, TextSubstitution from launch_ros.substitutions import FindPackageShare +from ros_gz_bridge.actions import RosGzBridge def generate_launch_description(): @@ -31,6 +32,7 @@ def generate_launch_description(): 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') @@ -73,6 +75,10 @@ def generate_launch_description(): 'bridge_log_level', default_value='info', description='Bridge log level' ) + declare_bridge_params_cmd = DeclareLaunchArgument( + 'bridge_params', default_value='', description='Extra parameters to pass to the bridge.' + ) + declare_world_sdf_file_cmd = DeclareLaunchArgument( 'world_sdf_file', default_value=TextSubstitution(text=''), description='Path to the SDF world file' @@ -94,19 +100,17 @@ def generate_launch_description(): ('create_own_container', create_own_container), ('use_composition', use_composition), ]) - bridge_description = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - [PathJoinSubstitution([FindPackageShare('ros_gz_bridge'), - 'launch', - 'ros_gz_bridge.launch.py'])]), - launch_arguments=[('bridge_name', bridge_name), - ('config_file', config_file), - ('container_name', container_name), - ('namespace', namespace), - ('create_own_container', str(False)), - ('use_composition', use_composition), - ('use_respawn', use_respawn), - ('bridge_log_level', bridge_log_level), ]) + ros_gz_bridge_action = RosGzBridge( + bridge_name=bridge_name, + config_file=config_file, + container_name=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, + ) # Create the launch description and populate ld = LaunchDescription() @@ -120,10 +124,11 @@ def generate_launch_description(): ld.add_action(declare_use_composition_cmd) ld.add_action(declare_use_respawn_cmd) ld.add_action(declare_bridge_log_level_cmd) + ld.add_action(declare_bridge_params_cmd) 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(bridge_description) + ld.add_action(ros_gz_bridge_action) return ld diff --git a/ros_gz_sim/launch/ros_gz_spawn_model.launch b/ros_gz_sim/launch/ros_gz_spawn_model.launch index b1ff49de..e465e7cc 100644 --- a/ros_gz_sim/launch/ros_gz_spawn_model.launch +++ b/ros_gz_sim/launch/ros_gz_spawn_model.launch @@ -7,6 +7,7 @@ + @@ -28,7 +29,8 @@ namespace="$(var namespace)" use_composition="$(var use_composition)" use_respawn="$(var use_respawn)" - log_level="$(var log_level)"> + log_level="$(var log_level)" + bridge_params="$(var bridge_params)">