From e2041411d93075fb2a330a5cfde6d9fc5acf5ec1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Wed, 13 Nov 2024 18:13:09 +0100 Subject: [PATCH 1/2] Refactor triggered_camera demo MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- ros_gz_sim_demos/CMakeLists.txt | 6 ++ ros_gz_sim_demos/README.md | 2 +- ros_gz_sim_demos/config/triggered_camera.yaml | 27 ++++++++ .../launch/triggered_camera.launch.py | 64 ------------------- .../launch/triggered_camera.launch.xml | 6 ++ 5 files changed, 40 insertions(+), 65 deletions(-) create mode 100644 ros_gz_sim_demos/config/triggered_camera.yaml delete mode 100644 ros_gz_sim_demos/launch/triggered_camera.launch.py create mode 100644 ros_gz_sim_demos/launch/triggered_camera.launch.xml diff --git a/ros_gz_sim_demos/CMakeLists.txt b/ros_gz_sim_demos/CMakeLists.txt index 8e0f580a..9b69104b 100644 --- a/ros_gz_sim_demos/CMakeLists.txt +++ b/ros_gz_sim_demos/CMakeLists.txt @@ -9,6 +9,12 @@ if(BUILD_TESTING) ament_lint_auto_find_test_dependencies() endif() +install( + DIRECTORY + config/ + DESTINATION share/${PROJECT_NAME}/config +) + install( DIRECTORY launch/ diff --git a/ros_gz_sim_demos/README.md b/ros_gz_sim_demos/README.md index c404a4dc..0d808277 100644 --- a/ros_gz_sim_demos/README.md +++ b/ros_gz_sim_demos/README.md @@ -44,7 +44,7 @@ Using the regular bridge: To use a camera that only publishes information when triggered: - ros2 launch ros_gz_sim_demos triggered_camera.launch.py + ros2 launch ros_gz_sim_demos triggered_camera.launch.xml Trigger the camera: diff --git a/ros_gz_sim_demos/config/triggered_camera.yaml b/ros_gz_sim_demos/config/triggered_camera.yaml new file mode 100644 index 00000000..c71b59e2 --- /dev/null +++ b/ros_gz_sim_demos/config/triggered_camera.yaml @@ -0,0 +1,27 @@ +# triggered_cammera configuration. +- ros_topic_name: "/camera" + gz_topic_name: "/camera" + ros_type_name: "sensor_msgs/msg/Image" + gz_type_name: "gz.msgs.Image" + subscriber_queue: 5 + publisher_queue: 6 + lazy: false + direction: GZ_TO_ROS + +- ros_topic_name: "/camera_info" + gz_topic_name: "/camera_info" + ros_type_name: "sensor_msgs/msg/CameraInfo" + gz_type_name: "gz.msgs.CameraInfo" + subscriber_queue: 5 + publisher_queue: 6 + lazy: false + direction: GZ_TO_ROS + +- ros_topic_name: "/camera/trigger" + gz_topic_name: "/camera/trigger" + ros_type_name: "std_msgs/msg/Bool" + gz_type_name: "gz.msgs.Boolean" + subscriber_queue: 5 + publisher_queue: 6 + lazy: false + direction: ROS_TO_GZ diff --git a/ros_gz_sim_demos/launch/triggered_camera.launch.py b/ros_gz_sim_demos/launch/triggered_camera.launch.py deleted file mode 100644 index c13144f1..00000000 --- a/ros_gz_sim_demos/launch/triggered_camera.launch.py +++ /dev/null @@ -1,64 +0,0 @@ -# Copyright 2022 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. - -import os - -from ament_index_python.packages import get_package_share_directory - -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.actions import IncludeLaunchDescription -from launch.conditions import IfCondition -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import LaunchConfiguration - -from launch_ros.actions import Node - - -def generate_launch_description(): - - pkg_ros_gz_sim_demos = get_package_share_directory('ros_gz_sim_demos') - pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim') - - gz_sim = IncludeLaunchDescription( - PythonLaunchDescriptionSource( - os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')), - launch_arguments={'gz_args': '-r triggered_camera_sensor.sdf'}.items(), - ) - - # RViz - rviz = Node( - package='rviz2', - executable='rviz2', - arguments=['-d', os.path.join(pkg_ros_gz_sim_demos, 'rviz', 'camera.rviz')], - condition=IfCondition(LaunchConfiguration('rviz')) - ) - - # Bridge - bridge = Node( - package='ros_gz_bridge', - executable='parameter_bridge', - arguments=['/camera@sensor_msgs/msg/Image@gz.msgs.Image', - '/camera/trigger@std_msgs/msg/Bool@gz.msgs.Boolean', - '/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo'], - output='screen' - ) - - return LaunchDescription([ - DeclareLaunchArgument('rviz', default_value='true', - description='Open RViz.'), - gz_sim, - bridge, - rviz - ]) diff --git a/ros_gz_sim_demos/launch/triggered_camera.launch.xml b/ros_gz_sim_demos/launch/triggered_camera.launch.xml new file mode 100644 index 00000000..f039ac0c --- /dev/null +++ b/ros_gz_sim_demos/launch/triggered_camera.launch.xml @@ -0,0 +1,6 @@ + + + + + + From 3c5d49b471c9a569691f3ffcf052ee437e23808d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Fri, 22 Nov 2024 18:37:27 +0100 Subject: [PATCH 2/2] Tweak MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- ros_gz_sim_demos/config/triggered_camera.yaml | 21 ++++++------------- .../launch/triggered_camera.launch.xml | 10 +++++++-- 2 files changed, 14 insertions(+), 17 deletions(-) diff --git a/ros_gz_sim_demos/config/triggered_camera.yaml b/ros_gz_sim_demos/config/triggered_camera.yaml index c71b59e2..ec6cbb85 100644 --- a/ros_gz_sim_demos/config/triggered_camera.yaml +++ b/ros_gz_sim_demos/config/triggered_camera.yaml @@ -1,27 +1,18 @@ # triggered_cammera configuration. -- ros_topic_name: "/camera" - gz_topic_name: "/camera" +- topic_name: "/camera" ros_type_name: "sensor_msgs/msg/Image" gz_type_name: "gz.msgs.Image" - subscriber_queue: 5 - publisher_queue: 6 - lazy: false + lazy: true direction: GZ_TO_ROS -- ros_topic_name: "/camera_info" - gz_topic_name: "/camera_info" +- topic_name: "/camera_info" ros_type_name: "sensor_msgs/msg/CameraInfo" gz_type_name: "gz.msgs.CameraInfo" - subscriber_queue: 5 - publisher_queue: 6 - lazy: false + lazy: true direction: GZ_TO_ROS -- ros_topic_name: "/camera/trigger" - gz_topic_name: "/camera/trigger" +- topic_name: "/camera/trigger" ros_type_name: "std_msgs/msg/Bool" gz_type_name: "gz.msgs.Boolean" - subscriber_queue: 5 - publisher_queue: 6 - lazy: false + lazy: true direction: ROS_TO_GZ diff --git a/ros_gz_sim_demos/launch/triggered_camera.launch.xml b/ros_gz_sim_demos/launch/triggered_camera.launch.xml index f039ac0c..ca8d3e65 100644 --- a/ros_gz_sim_demos/launch/triggered_camera.launch.xml +++ b/ros_gz_sim_demos/launch/triggered_camera.launch.xml @@ -1,6 +1,12 @@ - - + +