ros2 development

FlexBE · Oct 9, 2021 · f4d0360 · f4d0360
1 parent acf6854
commit f4d0360
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Showing 23 changed files with 392 additions and 203 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,22 +1,14 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(flexbe_app)
 
-find_package(catkin REQUIRED)
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-#catkin_python_setup()
-
-# specify catkin-specific information
-# INCLUDE_DIRS - The exported include paths (i.e. cflags) for the package
-# LIBRARIES - The exported libraries from the project
-# CATKIN_DEPENDS - Other catkin projects that this project depends on
-# DEPENDS - Non-catkin CMake projects that this project depends on
-# CFG_EXTRAS - Additional configuration options 
-catkin_package(
-    INCLUDE_DIRS src
-    LIBRARIES ${PROJECT_NAME})
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
 
 # use add_library() or add_executable() as required
 #add_library(${PROJECT_NAME} ${${PROJECT_NAME}_SRCS})
@@ -32,9 +24,9 @@ add_custom_command(OUTPUT nwjs
 
 add_custom_target(nw_install DEPENDS nwjs)
 
-if(NOT ${CMAKE_CURRENT_SOURCE_DIR}/nwjs)
-  safe_execute_process(COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/bin/nwjs_install)
-endif()
+#if(NOT ${CMAKE_CURRENT_SOURCE_DIR}/nwjs)
+#  safe_execute_process(COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/bin/nwjs_install)
+#endif()
 
 #############
 ## Install ##
@@ -43,28 +35,34 @@ endif()
 INSTALL(PROGRAMS
     bin/run_app
     bin/shortcut
-    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+    bin/nwjs_install
+    bin/test_report
+    DESTINATION lib/${PROJECT_NAME}
 )
 INSTALL(FILES
     package.json
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+    DESTINATION lib/${PROJECT_NAME}
+)
+INSTALL(FILES
+    flexbe.desktop
+    DESTINATION lib/${PROJECT_NAME}
 )
 INSTALL(DIRECTORY
     src
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+    DESTINATION lib/${PROJECT_NAME}
 )
 INSTALL(DIRECTORY
-    nwjs
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-    USE_SOURCE_PERMISSIONS
+    launch
+    DESTINATION lib/${PROJECT_NAME}
 )
-install(DIRECTORY
+INSTALL(DIRECTORY
     launch
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+    DESTINATION share/${PROJECT_NAME}
 )
+#INSTALL(DIRECTORY
+#    nwjs
+#    DESTINATION lib/${PROJECT_NAME}
+#    USE_SOURCE_PERMISSIONS
+#)
 
-# run tests
-if(CATKIN_ENABLE_TESTING)
-	find_package(rostest REQUIRED)
-	add_rostest(launch/test_report.test)
-endif()
+ament_package()
diff --git a/README.md b/README.md
@@ -20,31 +20,31 @@ To download the binaries manually instead, run the script `bin/nwjs_install`.
 
 In order to create and prepare a new repository for behavior development, run the following script in your ROS workspace and pass it the name of your project or identifier:
 
-    rosrun flexbe_widget create_repo [your_project_name]
+    ros2 run flexbe_widget create_repo [your_project_name]
 
 This will initialize a new local git repository with the correct workspace structure which you can then push to a desired remote location. Make sure that you build the workspace afterwards.
 
 ## Usage
 
 If desired, run the following command to create a shortcut in the application menu:
 
-    rosrun flexbe_app shortcut create
-    rosrun flexbe_app shortcut remove  # if you want to remove it
+    ros2 run flexbe_app shortcut create
+    ros2 run flexbe_app shortcut remove  # if you want to remove it
 
 Use the shortcut or the following command to run the FlexBE App alone, i.e., for only developing behaviors, but not executing them:
 
-    rosrun flexbe_app run_app --offline
+    ros2 run flexbe_app run_app --offline
 
 Omitting the `--offline` arg will let the App try to connect to ROS. You can manually connect/disconnect the App in the *Configuration* view.
 
 Use the following launch file to run FlexBE's operator control station, i.e., everything FlexBE requires on the operator machine for controlling behavior execution:
 
-    roslaunch flexbe_app flexbe_ocs.launch
-    roslaunch flexbe_onboard behavior_onboard.launch  # counterpart expected to run on the robot
+    ros2 launch flexbe_app flexbe_ocs.launch.py
+    ros2 launch flexbe_onboard behavior_onboard.launch.py  # counterpart expected to run on the robot
 
 Use the following launch file to run both of the above for local behavior execution:
 
-    roslaunch flexbe_app flexbe_full.launch
+    ros2 launch flexbe_app flexbe_full.launch.py
 
 
 ## Backwards Compatibility

diff --git a/bin/nwjs_install b/bin/nwjs_install
@@ -4,8 +4,8 @@ TEMPFILE="nwjs.tar.gz"
 mkdir -p ../nwjs
 cd ../nwjs
 
-VERSION="v0.42.3" # verified working, to be incremented explicitly
-
+# VERSION="v0.42.3" # verified working, to be incremented explicitly
+VERSION="v0.55.0"
 # check if nw is already existing and up-to-date, abort if so
 if [ -f nw ]; then
 	if [ -f version ] && [ "$(cat version)" == "$VERSION" ]; then

diff --git a/bin/run_app b/bin/run_app
@@ -1,15 +1,14 @@
 #!/bin/bash
-
-ROOT_PATH="$(rospack find flexbe_app)"
+ROOT_PATH="$(ros2 pkg prefix flexbe_app)"/lib/flexbe_app
 NW=$ROOT_PATH/nwjs/nw
 if [ ! -f $NW ]; then
     ROOT_PATH=.
     NW=$ROOT_PATH/nwjs/nw
 fi
 if [ ! -x $NW ]; then
   echo "Cannot run flexbe_app, need to download nwjs first."
-  echo "Please build flexbe_app via catkin before using it or run the following command now:"
-  echo "  rosrun flexbe_app nwjs_install"
+  echo "Please build flexbe_app via colcon before using it or run the following command now:"
+  echo "  ros2 run flexbe_app nwjs_install"
   exit -1
 fi
 

diff --git a/bin/shortcut b/bin/shortcut
@@ -1,11 +1,11 @@
 #!/bin/bash
 if [ "$1" == "create" ] ; then
-	cd $(rospack find flexbe_app)
+	cd $(ros2 pkg prefix flexbe_app)/lib/flexbe_app
 	if [[ -z $2 ]] ; then
 		cp flexbe.desktop ~/.local/share/applications
 	else
 		content=$(cat flexbe.desktop)
-		echo "${content/rosrun/$2; rosrun}" > ~/.local/share/applications/flexbe.desktop
+		echo "${content/ros2run/$2; ros2 run}" > ~/.local/share/applications/flexbe.desktop
 	fi
 	if [[ ! -d ~/.local/share/icons ]] ; then
 		mkdir -p ~/.local/share/icons
@@ -22,7 +22,7 @@ else
 	echo ""
 	echo "  create - Creates the new launcher shortcut"
 	echo "           (optional) In case you do not source a setup.bash in your .bashrc, you can specify one for the shortcut, e.g.:"
-	echo "                      > rosrun flexbe_app shortcut create \"source ~/catkin_ws/devel/setup.bash\""
+	echo "                      > ros2 run flexbe_app shortcut create \"source ~/ros2_ws/install/setup.bash\""
 	echo ""
 	echo "  remove - Removes the launcher shortcut"
 fi
diff --git a/bin/test_report b/bin/test_report
@@ -33,20 +33,22 @@ class TestReport(unittest.TestCase):
                 if test_type == "assertTrue":
                     self.assertTrue(test_data, test_name)
 
+def main():
+  try:
+      with open("/tmp/flexbe_app_behavior_report.log", 'r') as f:
+          report = yaml.safe_load(f)
+  except IOError:
+      pass  # add no tests because there is no report to evaluate
+  else:
+      for test_type, tests in report.items():
+          for test_name, test_data in tests.items():
+              function_name = "test_%s_%s" % (test_name, test_type)
+              test_function = generate_test(test_type, test_data)
+              test_function.__name__ = function_name
+              setattr(TestReport, function_name, test_function)
+
+  unittest.main()
 
-if __name__ == '__main__':
-    try:
-        with open("/tmp/flexbe_app_behavior_report.log", 'r') as f:
-            report = yaml.safe_load(f)
-    except IOError:
-        pass  # add no tests because there is no report to evaluate
-    else:
-        for test_type, tests in report.items():
-            for test_name, test_data in tests.items():
-                function_name = "test_%s_%s" % (test_name, test_type)
-                test_function = generate_test(test_type, test_data)
-                test_function.__name__ = function_name
-                setattr(TestReport, function_name, test_function)
 
-    import rosunit
-    rosunit.unitrun("flexbe_app", "test_report", TestReport)
+if __name__ == '__main__':
+    main()
diff --git a/flexbe.desktop b/flexbe.desktop
@@ -2,8 +2,7 @@
 Version=1.0
 Name=FlexBE App
 Comment=User interface for the FlexBE behavior engine.
-Exec=bash -i -c "rosrun flexbe_app run_app --offline"
+Exec=bash -i -c "ros2 run flexbe_app run_app --offline"
 Icon=flexbe_app.png
 Type=Application
 Categories=Application;Development;
-
diff --git a/launch/flexbe_full.launch.py b/launch/flexbe_full.launch.py
@@ -0,0 +1,28 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.substitutions import LaunchConfiguration
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+from ament_index_python.packages import get_package_share_directory
+
+flexbe_app_dir = get_package_share_directory('flexbe_app')
+flexbe_onboard_dir = get_package_share_directory('flexbe_onboard')
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            "no_app",
+            default_value="false"),
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(flexbe_app_dir + "/launch/flexbe_ocs.launch.py"),
+            launch_arguments={
+                "offline": "false",
+                "no_app": LaunchConfiguration("no_app")
+            }.items()
+        ),
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(flexbe_onboard_dir + "/behavior_onboard.launch.py")
+        )
+        ])
diff --git a/launch/flexbe_ocs.launch.py b/launch/flexbe_ocs.launch.py
@@ -0,0 +1,34 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
+from launch.substitutions import LaunchConfiguration
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+
+offline = DeclareLaunchArgument("offline", default_value="false")
+
+offline_arg = None
+
+if LaunchConfiguration("offline_arg"):
+    offline_arg = DeclareLaunchArgument("offline_arg", default_value="--offline")
+else:
+    offline_arg = DeclareLaunchArgument("offline_arg", default_value="")
+
+no_app = DeclareLaunchArgument("no_app", default_value="false")
+
+behavior_mirror = Node(name="behavior_mirror", package="flexbe_mirror", executable="behavior_mirror_sm")
+
+flexbe_app = Node(name="flexbe_app", package="flexbe_app", executable="run_app", output="screen",
+                arguments=[{LaunchConfiguration("offline_arg")}])
+
+behavior_launcher = Node(name="behavior_launcher", package="flexbe_widget", executable="be_launcher", output="screen")
+
+def generate_launch_description():
+    return LaunchDescription([
+            offline,
+            offline_arg,
+            no_app,
+            behavior_mirror,
+            flexbe_app,
+            behavior_launcher
+        ])
diff --git a/launch/test_report_test.py b/launch/test_report_test.py
@@ -0,0 +1,37 @@
+import os
+import sys
+import ament_index_python
+import launch
+import launch_ros
+import launch_ros.actions
+import launch_testing.actions
+import launch_testing_ros
+import pytest
+from ament_index_python.packages import get_package_share_directory
+
+@pytest.mark.rostest
+def generate_launch_description():
+    flexbe_app_dir = get_package_share_directory('flexbe_app')
+    TEST_PROC_PATH = os.path.join(flexbe_app_dir, 'test_report')
+
+    # This is necessary to get unbuffered output from the process under test
+    proc_env = os.environ.copy()
+    proc_env['PYTHONUNBUFFERED'] = '1'
+
+    test_report = launch.actions.ExecuteProcess(
+        cmd=[sys.executable, TEST_PROC_PATH],
+        env=proc_env,
+        output='screen',
+        sigterm_timeout=launch.substitutions.LaunchConfiguration('sigterm_timeout', default=90),
+        sigkill_timeout=launch.substitutions.LaunchConfiguration('sigkill_timeout', default=90)
+    )
+
+    return (
+        launch.LaunchDescription([
+            test_report,
+            launch_testing.actions.ReadyToTest()
+        ]),
+        {
+            'test_report': test_report,
+        }
+    )
diff --git a/package.json b/package.json
@@ -4,7 +4,7 @@
   "main": "src/main.js",
   "window": {
     "icon": "src/img/icon-128.png",
-    "toolbar": false,
+    "toolbar": true,
     "width": 1340,
     "height": 830,
     "min_width": 1340,