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Ensure the same container is used for the bridge and gz_server #553

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merged 1 commit into from
May 31, 2024
Merged

Ensure the same container is used for the bridge and gz_server #553

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21 changes: 13 additions & 8 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 @@ -18,19 +18,24 @@
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.actions import LoadComposableNodes, Node
from launch_ros.descriptions import ComposableNode


def generate_launch_description():

name = LaunchConfiguration('name')
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_name_cmd = DeclareLaunchArgument(
'name', description='Name of ros_gz_bridge node'
)

declare_config_file_cmd = DeclareLaunchArgument(
'config_file', default_value='', description='YAML config file'
)
Expand Down Expand Up @@ -65,6 +70,8 @@ def generate_launch_description():
Node(
package='ros_gz_bridge',
executable='bridge_node',
name=name,
namespace=namespace,
output='screen',
respawn=use_respawn,
respawn_delay=2.0,
Expand All @@ -74,28 +81,26 @@ def generate_launch_description():
],
)

load_composable_nodes = ComposableNodeContainer(
load_composable_nodes = LoadComposableNodes(
condition=IfCondition(use_composition),
name=container_name,
namespace=namespace,
package='rclcpp_components',
executable='component_container',
target_container=container_name,
composable_node_descriptions=[
ComposableNode(
package='ros_gz_bridge',
plugin='ros_gz_bridge::RosGzBridge',
name='ros_gz_bridge',
name=name,
namespace=namespace,
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_name_cmd)
ld.add_action(declare_config_file_cmd)
ld.add_action(declare_container_name_cmd)
ld.add_action(declare_namespace_cmd)
Expand Down
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 @@ -34,6 +34,7 @@ class RosGzBridge(Action):
def __init__(
self,
*,
name: SomeSubstitutionsType,
config_file: Optional[SomeSubstitutionsType] = None,
container_name: Optional[SomeSubstitutionsType] = None,
namespace: Optional[SomeSubstitutionsType] = None,
Expand All @@ -48,6 +49,7 @@ def __init__(
All arguments are forwarded to `ros_gz_bridge.launch.ros_gz_bridge.launch.py`,
so see the documentation of that class for further details.

:param: 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: namespace Top-level namespace.
Expand All @@ -56,6 +58,7 @@ def __init__(
:param: log_level Log level.
"""
super().__init__(**kwargs)
self.__name = name
self.__config_file = config_file
self.__container_name = container_name
self.__namespace = namespace
Expand All @@ -68,6 +71,10 @@ def parse(cls, entity: Entity, parser: Parser):
"""Parse ros_gz_bridge."""
_, kwargs = super().parse(entity, parser)

name = entity.get_attr(
'name', data_type=str,
optional=False)

config_file = entity.get_attr(
'config_file', data_type=str,
optional=False)
Expand All @@ -92,6 +99,10 @@ def parse(cls, entity: Entity, parser: Parser):
'log_level', data_type=str,
optional=True)

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

if isinstance(config_file, str):
config_file = parser.parse_substitution(config_file)
kwargs['config_file'] = config_file
Expand Down Expand Up @@ -125,7 +136,8 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
[PathJoinSubstitution([FindPackageShare('ros_gz_bridge'),
'launch',
'ros_gz_bridge.launch.py'])]),
launch_arguments=[('config_file', self.__config_file),
launch_arguments=[('name', self.__name),
('config_file', self.__config_file),
('container_name', self.__container_name),
('namespace', self.__namespace),
('use_composition', self.__use_composition),
Expand Down
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