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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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4 changes: 3 additions & 1 deletion ros_gz_bridge/launch/ros_gz_bridge.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -2,14 +2,16 @@
<arg name="bridge_name" />
<arg name="config_file" />
<arg name="container_name" default="ros_gz_container" />
<arg name="create_own_container" default="False" />
<arg name="namespace" default="" />
<arg name="use_composition" default="True" />
<arg name="use_composition" default="False" />
<arg name="use_respawn" default="False" />
<arg name="log_level" default="info" />
<ros_gz_bridge
bridge_name="$(var bridge_name)"
config_file="$(var config_file)"
container_name="$(var container_name)"
create_own_container="$(var create_own_container)"
namespace="$(var namespace)"
use_composition="$(var use_composition)"
use_respawn="$(var use_respawn)"
Expand Down
39 changes: 34 additions & 5 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')
create_own_container = LaunchConfiguration('create_own_container')
namespace = LaunchConfiguration('namespace')
use_composition = LaunchConfiguration('use_composition')
use_respawn = LaunchConfiguration('use_respawn')
Expand All @@ -46,12 +47,18 @@ def generate_launch_description():
description='Name of container that nodes will load in if use composition',
)

declare_create_own_container_cmd = DeclareLaunchArgument(
'create_own_container',
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'
)

declare_use_composition_cmd = DeclareLaunchArgument(
'use_composition', default_value='True', description='Use composed bringup if True'
'use_composition', default_value='False', description='Use composed bringup if True'
)

declare_use_respawn_cmd = DeclareLaunchArgument(
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 ', 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',
)

load_composable_nodes_without_container = LoadComposableNodes(
condition=IfCondition(PythonExpression([use_composition, ' and not ', create_own_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_create_own_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
14 changes: 13 additions & 1 deletion ros_gz_bridge/ros_gz_bridge/actions/ros_gz_bridge.py
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Original file line number Diff line number Diff line change
Expand Up @@ -37,8 +37,9 @@ def __init__(
bridge_name: SomeSubstitutionsType,
config_file: SomeSubstitutionsType,
container_name: Optional[SomeSubstitutionsType] = 'ros_gz_container',
create_own_container: Optional[SomeSubstitutionsType] = 'False',
namespace: Optional[SomeSubstitutionsType] = '',
use_composition: Optional[SomeSubstitutionsType] = 'True',
use_composition: Optional[SomeSubstitutionsType] = 'False',
use_respawn: Optional[SomeSubstitutionsType] = 'False',
log_level: Optional[SomeSubstitutionsType] = 'info',
**kwargs
Expand All @@ -52,6 +53,7 @@ def __init__(
: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.
:param: create_own_container Whether to start a ROS container when using composition.
:param: namespace Top-level namespace.
:param: use_composition Use composed bringup if True.
:param: use_respawn Whether to respawn if a node crashes (when composition is disabled).
Expand All @@ -61,6 +63,7 @@ def __init__(
self.__bridge_name = bridge_name
self.__config_file = config_file
self.__container_name = container_name
self.__create_own_container = create_own_container
self.__namespace = namespace
self.__use_composition = use_composition
self.__use_respawn = use_respawn
Expand All @@ -83,6 +86,10 @@ def parse(cls, entity: Entity, parser: Parser):
'container_name', data_type=str,
optional=True)

create_own_container = entity.get_attr(
'create_own_container', data_type=str,
optional=True)

namespace = entity.get_attr(
'namespace', data_type=str,
optional=True)
Expand Down Expand Up @@ -111,6 +118,10 @@ def parse(cls, entity: Entity, parser: Parser):
container_name = parser.parse_substitution(container_name)
kwargs['container_name'] = container_name

if isinstance(create_own_container, str):
create_own_container = parser.parse_substitution(create_own_container)
kwargs['create_own_container'] = create_own_container

if isinstance(namespace, str):
namespace = parser.parse_substitution(namespace)
kwargs['namespace'] = namespace
Expand Down Expand Up @@ -139,6 +150,7 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
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),
Expand Down
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