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Extra parameter to start a container #616

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merged 10 commits into from
Oct 14, 2024
Merged

Extra parameter to start a container #616

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a2adf04
Extra parameter to start a container
caguero Sep 27, 2024
f0f63b3
Use create_own_container
caguero Oct 1, 2024
144a6cf
Style
caguero Oct 3, 2024
e0c64ea
Fix style
caguero Oct 3, 2024
cac63cf
Update ros_gz_bridge/launch/ros_gz_bridge.launch.py
caguero Oct 3, 2024
42bdda3
Tweak documentation
caguero Oct 3, 2024
306b3bd
Add create_own_container parameter to ros_gz_sim launch files.
caguero Oct 3, 2024
d6bc3ac
Disable use_composition by default.
caguero Oct 10, 2024
4b66447
Merge branch 'ros2' into caguero/start_container
caguero Oct 10, 2024
26a0a3f
Set default value for create_own_container to False
caguero Oct 10, 2024
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37 changes: 33 additions & 4 deletions ros_gz_bridge/launch/ros_gz_bridge.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@
from launch.actions import DeclareLaunchArgument, GroupAction
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import LoadComposableNodes, Node
from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes, Node
from launch_ros.descriptions import ComposableNode


Expand All @@ -27,6 +27,7 @@ def generate_launch_description():
bridge_name = LaunchConfiguration('bridge_name')
config_file = LaunchConfiguration('config_file')
container_name = LaunchConfiguration('container_name')
start_container = LaunchConfiguration('start_container')
namespace = LaunchConfiguration('namespace')
use_composition = LaunchConfiguration('use_composition')
use_respawn = LaunchConfiguration('use_respawn')
Expand All @@ -46,6 +47,12 @@ def generate_launch_description():
description='Name of container that nodes will load in if use composition',
)

declare_start_container_cmd = DeclareLaunchArgument(
'start_container',
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I would suggest changing this to create_own_container to make it a little more clear that this is not necessary for the bridge to work as a composable node. I would also add more to the description so users don't think they have to set this to True in order to get the benefits of composition.

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I renamed the new parameter as suggested and added to the launch action. I also changed the default value of use_composition to False. f0f63b3

default_value='False',
description='Whether to start a ROS container when using composition',
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)

declare_namespace_cmd = DeclareLaunchArgument(
'namespace', default_value='', description='Top-level namespace'
)
Expand Down Expand Up @@ -81,8 +88,27 @@ def generate_launch_description():
],
)

load_composable_nodes = LoadComposableNodes(
condition=IfCondition(use_composition),
load_composable_nodes_with_container = ComposableNodeContainer(
condition=IfCondition(PythonExpression([use_composition, ' and ', start_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',
)

load_composable_nodes_without_container = LoadComposableNodes(
condition=IfCondition(PythonExpression([use_composition, ' and not ', start_container])),
target_container=container_name,
composable_node_descriptions=[
ComposableNode(
Expand All @@ -94,6 +120,7 @@ def generate_launch_description():
extra_arguments=[{'use_intra_process_comms': True}],
),
],
output='screen',
)

# Create the launch description and populate
Expand All @@ -103,12 +130,14 @@ def generate_launch_description():
ld.add_action(declare_bridge_name_cmd)
ld.add_action(declare_config_file_cmd)
ld.add_action(declare_container_name_cmd)
ld.add_action(declare_start_container_cmd)
ld.add_action(declare_namespace_cmd)
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)
ld.add_action(load_composable_nodes_with_container)
ld.add_action(load_composable_nodes_without_container)

return ld
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