Launch gzserver and the bridge as composable nodes

launch_gz/launch_gz/__init__.py

@@ -0,0 +1,22 @@
+# Copyright 2024 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.
+
+"""Main entry point for the `launch_gz` package."""
+
+from . import actions
+
+
+__all__ = [
+    'actions',
+]

launch_gz/launch_gz/actions/__init__.py

@@ -0,0 +1,22 @@
+# Copyright 2024 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.
+
+"""Actions module."""
+
+from .gzserver import GzServer
+
+
+__all__ = [
+    'GzServer',
+]

launch_gz/launch_gz/actions/gzserver.py

@@ -0,0 +1,115 @@
+# Copyright 2024 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.
+
+"""Module for the GzServer action."""
+
+from typing import List
+from typing import Optional
+
+from launch.action import Action
+from launch.actions import IncludeLaunchDescription
+from launch.frontend import expose_action, Entity, Parser
+from launch.launch_context import LaunchContext
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.some_substitutions_type import SomeSubstitutionsType
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+
+@expose_action('gzserver')
+class GzServer(Action):
+	"""Action that executes a gzserver ROS [composable] node."""
+
+	def __init__(
+		self,
+		*,
+		world_sdf_file: SomeSubstitutionsType,
+		world_sdf_string: SomeSubstitutionsType,
+		container_name: SomeSubstitutionsType,
+		use_composition: SomeSubstitutionsType,
+		**kwargs
+	) -> None:
+		"""
+		Construct a gzserver action.
+
+		All arguments are forwarded to `ros_gz_sim.launch.gzserver.launch.py`, so see the documentation
+		of that class for further details.
+
+		:param: world_sdf_file Path to the SDF world file.
+		:param: world_sdf_string SDF world string.
+		:param: container_name Name of container that nodes will load in if use composition.
+		:param: use_composition Use composed bringup if True.
+		"""
+
+		super().__init__(**kwargs)
+		self.__world_sdf_file = world_sdf_file
+		self.__world_sdf_string = world_sdf_string
+		self.__container_name = container_name
+		self.__use_composition = use_composition
+
+	@classmethod
+	def parse(cls, entity: Entity, parser: Parser):
+		"""Parse gzserver."""
+		_, kwargs = super().parse(entity, parser)
+
+		world_sdf_file = entity.get_attr(
+			'world_sdf_file', data_type=str,
+			optional=True)
+
+		world_sdf_string = entity.get_attr(
+		    'world_sdf_string', data_type=str,
+		    optional=True)
+
+		container_name = entity.get_attr(
+		    'container_name', data_type=str,
+		    optional=True)
+
+		use_composition = entity.get_attr(
+		    'use_composition', data_type=str,
+		    optional=True)
+
+		if isinstance(world_sdf_file, str):
+			world_sdf_file = parser.parse_substitution(world_sdf_file)
+			kwargs['world_sdf_file'] = world_sdf_file
+
+		if isinstance(world_sdf_string, str):
+		    world_sdf_string = parser.parse_substitution(world_sdf_string)
+		    kwargs['world_sdf_string'] = world_sdf_string
+
+		if isinstance(container_name, str):
+		    container_name = parser.parse_substitution(container_name)
+		    kwargs['container_name'] = container_name
+
+		if isinstance(use_composition, str):
+		    use_composition = parser.parse_substitution(use_composition)
+		    kwargs['use_composition'] = use_composition
+
+		return cls, kwargs
+
+	def execute(self, context: LaunchContext) -> Optional[List[Action]]:
+		"""
+		Execute the action.
+		"""
+
+		gzserver_description = IncludeLaunchDescription(
+			PythonLaunchDescriptionSource(
+				[PathJoinSubstitution([FindPackageShare('ros_gz_sim'),
+									   'launch',
+									   'gzserver.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]

launch_gz/package.xml

@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<?xml-model
+  href="http://download.ros.org/schema/package_format2.xsd"
+  schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>launch_gz</name>
+  <version>0.246.0</version>
+  <description>gz specific extensions to the launch tool.</description>
+
+  <maintainer email="ahcorde@openrobotics.org">Alejandro Hernandez</maintainer>
+  <maintainer email="caguero@openrobotics.org">Carlos Agüero</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <author email="caguero@openrobotics.org">Carlos Agüero</author>
+
+  <depend>ament_index_python</depend>
+  <depend>composition_interfaces</depend>
+  <depend>launch</depend>
+  <depend>launch_ros</depend>
+  <depend>lifecycle_msgs</depend>
+  <depend>osrf_pycommon</depend>
+  <depend>ros_gz_sim</depend>
+  <depend>python3-importlib-metadata</depend>
+  <depend>python3-yaml</depend>
+  <depend>rclpy</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

launch_gz/setup.py

@@ -0,0 +1,49 @@
+from setuptools import find_packages
+from setuptools import setup
+
+package_name = 'launch_gz'
+
+setup(
+    name=package_name,
+    version='0.246.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/' + package_name, ['package.xml']),
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+    ],
+    package_data={'launch_gz': ['py.typed']},
+    install_requires=[
+        'setuptools',
+        'ament_index_python',
+        'launch',
+        'launch_ros',
+        'osrf_pycommon',
+        'pyyaml',
+    ],
+    zip_safe=True,
+    author='Carlos Agüero',
+    author_email='caguero@openrobotics.org',
+    maintainer='Carlos Agüero, Alejandro Hernandez, Michael Carroll',
+    maintainer_email='caguero@openrobotics.org, alejandro@openrobotics.org, mjcarroll@intrinsic.ai',
+    url='https://github.com/gazebosim/ros_gz/launch_gz',
+    download_url='https://github.com/gazebosim/ros_gz/releases',
+    keywords=['ROS'],
+    classifiers=[
+        'Intended Audience :: Developers',
+        'License :: OSI Approved :: Apache Software License',
+        'Programming Language :: Python',
+        'Topic :: Software Development',
+    ],
+    description='gz specific extensions to `launch`.',
+    long_description=(
+        'This package provides gz specific extensions to the launch package.'
+    ),
+    license='Apache License, Version 2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'launch.frontend.launch_extension': [
+            'launch_gz = launch_gz',
+        ],
+    }
+)

ros_gz_bridge/CMakeLists.txt

@@ -133,6 +133,11 @@ install(
   DESTINATION include/${PROJECT_NAME}
 )
 
+install(
+  DIRECTORY launch/
+  DESTINATION share/${PROJECT_NAME}/launch
+)
+
 set(bridge_executables
   parameter_bridge
   static_bridge

ros_gz_bridge/launch/ros_gz_bridge.launch.py

@@ -0,0 +1,109 @@
+# Copyright 2024 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.
+
+"""Launch ros_gz bridge in a component container."""
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, GroupAction
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch_ros.actions import ComposableNodeContainer, Node
+from launch_ros.descriptions import ComposableNode
+
+
+def generate_launch_description():
+
+    config_file = LaunchConfiguration('config_file')
+    container_name = LaunchConfiguration('container_name')
+    namespace = LaunchConfiguration('namespace')
+    use_composition = LaunchConfiguration('use_composition')
+    use_respawn = LaunchConfiguration('use_respawn')
+    log_level = LaunchConfiguration('log_level')
+
+    declare_config_file_cmd = DeclareLaunchArgument(
+        'config_file', default_value='', description='YAML config file'
+    )
+
+    declare_container_name_cmd = DeclareLaunchArgument(
+        'container_name',
+        default_value='ros_gz_container',
+        description='Name of container that nodes will load in if use composition',
+    )
+
+    declare_namespace_cmd = DeclareLaunchArgument(
+        'namespace', default_value='', description='Top-level namespace'
+    )
+
+    declare_use_composition_cmd = DeclareLaunchArgument(
+        'use_composition', default_value='False', description='Use composed bringup if True'
+    )
+
+    declare_use_respawn_cmd = DeclareLaunchArgument(
+        'use_respawn',
+        default_value='False',
+        description='Whether to respawn if a node crashes. Applied when composition is disabled.',
+    )
+
+    declare_log_level_cmd = DeclareLaunchArgument(
+        'log_level', default_value='info', description='log level'
+    )
+
+    load_nodes = GroupAction(
+        condition=IfCondition(PythonExpression(['not ', use_composition])),
+        actions=[
+            Node(
+                package='ros_gz_bridge',
+                executable='bridge_node',
+                output='screen',
+                respawn=use_respawn,
+                respawn_delay=2.0,
+                parameters=[{'config_file': config_file}],
+                arguments=['--ros-args', '--log-level', log_level],
+            ),
+        ],
+    )
+
+    load_composable_nodes = ComposableNodeContainer(
+        condition=IfCondition(use_composition),
+        name=container_name,
+        namespace=namespace,
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
+            ComposableNode(
+                package='ros_gz_bridge',
+                plugin='ros_gz_bridge::RosGzBridge',
+                name='ros_gz_bridge',
+                parameters=[{'config_file': config_file}],
+                extra_arguments=[{'use_intra_process_comms': True}],
+            ),
+        ],
+        output='screen',
+    )
+
+    # Create the launch description and populate
+    ld = LaunchDescription()
+
+    # Declare the launch options
+    ld.add_action(declare_config_file_cmd)
+    ld.add_action(declare_container_name_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)
+
+    return ld