Merge pull request #5 from ROBOTIS-Platform/develop

Added lifecycle and action examples

README.md

@@ -43,6 +43,16 @@ $ ros2 run examples_rclcpp client -a ${number} -b ${number} -o ${arithmetic_oper
 
 ${arithmetic_operator} : plus, minus, multiply, division
 
+### Action Server
+```bash
+$ ros2 run examples_rclcpp action_server
+```
+
+### Action Client
+```bash
+$ ros2 run examples_rclcpp action_client -n ${number}
+```
+
 ### Launch
 ```bash
 $ ros2 launch examples_rclcpp pub.launch.py
@@ -155,3 +165,39 @@ $ ros2 run rviz2 rviz2 -d examples_tf2/rviz/arm.rviz
 ```bash
 $ ros2 service call state std_srvs/srv/SetBool "data: false"
 ```
+
+## examples_lifecycle
+
+### Run examples_lifecycle
+```bash
+$ ros2 run examples_lifecycle robot
+```
+
+### Launch examples_lifecycle
+```bash
+$ ros2 launch examples_lifecycle bringup.launch.py auto_activate:=False
+```
+
+### Lifecycle client
+#### Trigger lifecycle state transition
+```bash
+$ ros2 lifecycle set /example/robot configure
+$ ros2 lifecycle set /example/robot activate
+$ ros2 lifecycle set /example/robot deactivate
+$ ros2 lifecycle set /example/robot shutdown
+```
+
+#### Get lifecycle state for one or more nodes
+```
+$ ros2 lifecycle get /example/robot
+```
+
+#### Output a list of available transitions
+```
+$ ros2 lifecycle list /example/robot
+```
+
+#### Output a list of nodes with lifecycle
+```
+$ ros2 lifecycle nodes
+```

examples_lifecycle/CHANGELOG.rst

@@ -0,0 +1,16 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package examples_lifecycle
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.1.0 (2019-10-07)
+------------------
+* Added example package for lifecycle
+* Contributors: Darby Lim
+
+1.0.0 (2019-08-05)
+------------------
+* None
+
+0.1.0 (2019-05-15)
+------------------
+* None

examples_lifecycle/CMakeLists.txt

@@ -0,0 +1,69 @@
+################################################################################
+# Set minimum required version of cmake, project name and compile options
+################################################################################
+cmake_minimum_required(VERSION 3.5)
+project(examples_lifecycle)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+################################################################################
+# Find and load build settings from external packages
+################################################################################
+find_package(ament_cmake REQUIRED)
+find_package(lifecycle_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(std_msgs REQUIRED)
+
+################################################################################
+# Build
+################################################################################
+include_directories(
+  include
+)
+
+set(LIFECYCLE_NODE_NAME robot)
+
+set(dependencies
+  "lifecycle_msgs"
+  "rclcpp"
+  "rclcpp_lifecycle"
+  "std_msgs"
+)
+
+add_executable(${LIFECYCLE_NODE_NAME} src/main.cpp src/robot.cpp)
+ament_target_dependencies(${LIFECYCLE_NODE_NAME} ${dependencies})
+
+################################################################################
+# Install
+################################################################################
+install(TARGETS
+  ${LIFECYCLE_NODE_NAME}
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+################################################################################
+# Test
+################################################################################
+if(BUILD_TESTING)
+  find_package(ament_cmake_pytest REQUIRED)
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+################################################################################
+# Macro for ament package
+################################################################################
+ament_export_include_directories(include)
+ament_package()

examples_lifecycle/README.md

@@ -0,0 +1 @@
+https://design.ros2.org/articles/node_lifecycle.html

examples_lifecycle/include/examples_lifecycle/robot.hpp

@@ -0,0 +1,89 @@
+/*******************************************************************************
+* Copyright 2019 ROBOTIS CO., LTD.
+*
+* 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.
+*******************************************************************************/
+
+/* Authors: Darby Lim */
+
+#ifndef EXAMPLES_LIFECYCLE_ROBOT_HPP_
+#define EXAMPLES_LIFECYCLE_ROBOT_HPP_
+
+// Load smart pointer
+#include <memory>
+// Load std::string
+#include <string>
+// Load move, forward, tuple and etc (https://en.cppreference.com/w/cpp/header/utility)
+#include <utility>
+// Load change_state service in lifecycle_msgs
+#include <lifecycle_msgs/srv/change_state.hpp>
+// Load RCLCPP Lifecycle Node Library (https://github.com/ros2/rclcpp/tree/master/rclcpp_lifecycle)
+#include <rclcpp_lifecycle/lifecycle_node.hpp>
+// Load string message in std_msgs
+#include <std_msgs/msg/string.hpp>
+
+
+using LifecycleReturn =
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
+
+namespace robotis
+{
+class Robot : public rclcpp_lifecycle::LifecycleNode
+{
+ public:
+  // 'explicit' makes block data conversion
+  explicit Robot(const bool & auto_activate);
+
+  // Specify overriding functions
+  LifecycleReturn on_configure(const rclcpp_lifecycle::State &) override;
+  LifecycleReturn on_activate(const rclcpp_lifecycle::State &) override;
+  LifecycleReturn on_deactivate(const rclcpp_lifecycle::State &) override;
+  LifecycleReturn on_cleanup(const rclcpp_lifecycle::State &) override;
+  LifecycleReturn on_shutdown(const rclcpp_lifecycle::State &) override;
+
+ private:
+  // Get all parameters when you set in launch file or yaml
+  void get_parameters();
+
+  // Initialization robot
+  void plugin_robot();
+
+  // Shutdown robot
+  void unplug_robot();
+
+  // Declare status of robot
+  void run();
+
+  // Declare status of robot
+  void stop();
+
+  // Declare robot name. This variable will be set by parameters
+  std::string robot_name_;
+
+  // Declare robot state. This variable will be changed by lifecycle state
+  std::string robot_state_;
+
+  // Declare topic message as unique pointer
+  std::unique_ptr<std_msgs::msg::String> msg_;
+
+  // Declare publisher as shared pointer
+  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<std_msgs::msg::String>> pub_;
+
+  // Declare timer to publish data periodically
+  rclcpp::TimerBase::SharedPtr timer_;
+
+  // Declare client to change state
+  std::shared_ptr<rclcpp::Client<lifecycle_msgs::srv::ChangeState>> client_change_state_;
+};
+} // robotis
+#endif // EXAMPLES_LIFECYCLE_ROBOT_HPP_

examples_lifecycle/launch/bringup.launch.py

@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+#
+# Copyright 2019 ROBOTIS CO., LTD.
+#
+# 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.
+#
+# Authors: Darby Lim
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.actions import LogInfo
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    auto_activate = LaunchConfiguration('auto_activate', default='False')
+    namespace = LaunchConfiguration('ns', default='example')
+
+    return LaunchDescription([
+        LogInfo(msg=['Execute lifecycle node!!']),
+
+        DeclareLaunchArgument(
+            'auto_activate',
+            default_value=auto_activate,
+            description='Specifying auto activate node'),
+
+        DeclareLaunchArgument(
+            'ns',
+            default_value=namespace,
+            description='Specifying namespace to node'),
+
+        Node(
+            node_namespace=namespace,
+            package='examples_lifecycle',
+            node_executable='robot',
+            parameters=[{'robot_name': 'C3PO'}],
+            arguments=['-a', auto_activate],
+            output='screen'),
+    ])

examples_lifecycle/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>examples_lifecycle</name>
+  <version>1.1.0</version>
+  <description>
+    Examples of ROS 2 RCLCPP Lifecycle nodes
+  </description>
+  <author email="thlim@robotis.com">Darby Lim</author>
+  <maintainer email="pyo@robotis.com">Pyo</maintainer>
+  <license>Apache 2.0</license>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>lifecycle_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_lifecycle</depend>
+  <depend>std_msgs</depend>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>