Launch gzserver and the bridge as composable nodes

ros_gz_sim/CMakeLists.txt

@@ -27,12 +27,16 @@ find_package(gz-msgs REQUIRED)
 find_package(gz_sim_vendor REQUIRED)
 find_package(gz-sim REQUIRED)
 # Needed in launch/gz_sim.launch.py.in
+set(GZ_SIM_VER ${gz-sim_VERSION_MAJOR})
 
 gz_find_package(gflags
     REQUIRED
     PKGCONFIG gflags)
 find_package(std_msgs REQUIRED)
 
+# Install the python module for this package
+ament_python_install_package(${PROJECT_NAME})
+
 add_executable(create src/create.cpp)
 ament_target_dependencies(create
   rclcpp
@@ -93,8 +97,8 @@ install(FILES
 )
 
 install(FILES
-  "launch/gzserver.launch"
-  "launch/gzserver.launch.py"
+  "launch/gz_server.launch"
+  "launch/gz_server.launch.py"
   "launch/gz_spawn_model.launch.py"
   "launch/ros_gz_sim.launch.py"
   "launch/ros_gz_spawn_model.launch.py"

ros_gz_sim/launch/gzserver.launch → ros_gz_sim/launch/gz_server.launch

@@ -3,10 +3,10 @@
   <arg name="world_sdf_string" default="" />
   <arg name="container_name" default="ros_gz_container" />
   <arg name="use_composition" default="False" />
-  <gzserver 
+  <gz_server 
     world_sdf_file="$(var world_sdf_file)"
     world_sdf_string="$(var world_sdf_string)"
-	container_name="$(var container_name)"
-	use_composition="$(var use_composition)">
-  </gzserver>
+    container_name="$(var container_name)"
+    use_composition="$(var use_composition)">
+  </gz_server>
 </launch>

ros_gz_sim/launch/gzserver.launch.py → ros_gz_sim/launch/gz_server.launch.py

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Launch gzserver in a component container."""
+"""Launch gz_server in a component container."""
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
@@ -56,7 +56,7 @@ def generate_launch_description():
             ComposableNode(
                 package='ros_gz_sim',
                 plugin='ros_gz_sim::GzServer',
-                name='gzserver',
+                name='gz_server',
                 parameters=[{'world_sdf_file': LaunchConfiguration('world_sdf_file'),
                              'world_sdf_string': LaunchConfiguration('world_sdf_string')}],
                 extra_arguments=[{'use_intra_process_comms': True}],
@@ -73,7 +73,7 @@ def generate_launch_description():
     ld.add_action(declare_world_sdf_string_cmd)
     ld.add_action(declare_container_name_cmd)
     ld.add_action(declare_use_composition_cmd)
-    # Add the actions to launch all of the gzserver nodes
+    # Add the actions to launch all of the gz_server nodes
     ld.add_action(load_nodes)
     ld.add_action(load_composable_nodes)
 

ros_gz_sim/launch/ros_gz_sim.launch.py

@@ -83,11 +83,11 @@ def generate_launch_description():
                           ('use_respawn', use_respawn),
                           ('bridge_log_level', bridge_log_level)])
 
-    gzserver_description = IncludeLaunchDescription(
+    gz_server_description = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             [PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
                                    'launch',
-                                   'gzserver.launch.py'])]),
+                                   'gz_server.launch.py'])]),
         launch_arguments=[('world_sdf_file', world_sdf_file),
                           ('world_sdf_string', world_sdf_string),
                           ('use_composition', use_composition), ])
@@ -104,8 +104,8 @@ def generate_launch_description():
     ld.add_action(declare_bridge_log_level_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 + gzserver nodes
+    # Add the actions to launch all of the bridge + gz_server nodes
     ld.add_action(bridge_description)
-    ld.add_action(gzserver_description)
+    ld.add_action(gz_server_description)
 
     return ld

ros_gz_sim/package.xml

@@ -10,11 +10,16 @@
   <license>Apache 2.0</license>
 
   <author>Alejandro Hernandez</author>
+  <author email="addisuzt@intrinsic.ai">Addisu Taddese</author>
+  <author email="caguero@openrobotics.org">Carlos Agüero</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
   <buildtool_depend>pkg-config</buildtool_depend>
 
   <depend>ament_index_python</depend>
+  <depend>launch</depend>
+  <depend>launch_ros</depend>
   <depend>libgflags-dev</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

launch_gz/launch_gz/__init__.py → ros_gz_sim/ros_gz_sim/__init__.py

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Main entry point for the `launch_gz` package."""
+"""Main entry point for the `ros_gz_sim` package."""
 
 from . import actions
 

launch_gz/launch_gz/actions/gzserver.py → ros_gz_sim/ros_gz_sim/actions/gzserver.py

@@ -26,23 +26,23 @@
 from launch.substitutions import PathJoinSubstitution
 from launch_ros.substitutions import FindPackageShare
 
-@expose_action('gzserver')
+@expose_action('gz_server')
 class GzServer(Action):
-	"""Action that executes a gzserver ROS [composable] node."""
+	"""Action that executes a gz_server ROS [composable] node."""
 
 	def __init__(
 		self,
 		*,
-		world_sdf_file: SomeSubstitutionsType,
-		world_sdf_string: SomeSubstitutionsType,
-		container_name: SomeSubstitutionsType,
-		use_composition: SomeSubstitutionsType,
+		world_sdf_file: Optional[SomeSubstitutionsType],
+		world_sdf_string: Optional[SomeSubstitutionsType],
+		container_name: Optional[SomeSubstitutionsType],
+		use_composition: Optional[SomeSubstitutionsType],
 		**kwargs
 	) -> None:
 		"""
-		Construct a gzserver action.
+		Construct a gz_server action.
 
-		All arguments are forwarded to `ros_gz_sim.launch.gzserver.launch.py`, so see the documentation
+		All arguments are forwarded to `ros_gz_sim.launch.gz_server.launch.py`, so see the documentation
 		of that class for further details.
 
 		:param: world_sdf_file Path to the SDF world file.
@@ -59,7 +59,7 @@ def __init__(
 
 	@classmethod
 	def parse(cls, entity: Entity, parser: Parser):
-		"""Parse gzserver."""
+		"""Parse gz_server."""
 		_, kwargs = super().parse(entity, parser)
 
 		world_sdf_file = entity.get_attr(
@@ -101,15 +101,15 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
 		Execute the action.
 		"""
 
-		gzserver_description = IncludeLaunchDescription(
+		gz_server_description = IncludeLaunchDescription(
 			PythonLaunchDescriptionSource(
 				[PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
 									   'launch',
-									   'gzserver.launch.py'])]),
+									   'gz_server.launch.py'])]),
 				launch_arguments=[('world_sdf_file', self.__world_sdf_file),
 								  ('world_sdf_string', self.__world_sdf_string),
 								  ('container_name',   self.__container_name),
 								  ('use_composition',  self.__use_composition),
 								 ])
 
-		return [gzserver_description]
+		return [gz_server_description]

ros_gz_sim/setup.cfg

@@ -0,0 +1,3 @@
+[options.entry_points]
+launch.frontend.launch_extension =
+  ros_gz_sim = ros_gz_sim

ros_gz_sim/src/gzserver.cpp

@@ -62,11 +62,13 @@ class GzServer : public rclcpp::Node
       RCLCPP_ERROR(
         this->get_logger(),
         "Must specify either 'world_sdf_file' or 'world_sdf_string'");
+      rclcpp::shutdown();
       return;
     }
 
     gz::sim::Server server(server_config);
     server.Run(true /*blocking*/, 0, false /*paused*/);
+    rclcpp::shutdown();
   }
 
 private: