From 7bdecc1cb2d663094c91b7a44053ed690e23b1af Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 14:08:23 -0400
Subject: [PATCH 01/34] Changed type hints in ros_loader.py to use imports from
Typing, restoring compatibility with Python <3.9.
---
.../src/rosbridge_library/internal/ros_loader.py | 12 ++++++------
1 file changed, 6 insertions(+), 6 deletions(-)
diff --git a/rosbridge_library/src/rosbridge_library/internal/ros_loader.py b/rosbridge_library/src/rosbridge_library/internal/ros_loader.py
index 3651727ac..1b0b12f2b 100644
--- a/rosbridge_library/src/rosbridge_library/internal/ros_loader.py
+++ b/rosbridge_library/src/rosbridge_library/internal/ros_loader.py
@@ -33,7 +33,7 @@
import importlib
from threading import Lock
-from typing import Any
+from typing import Any, Tuple, Dict
""" ros_loader contains methods for dynamically loading ROS message classes at
runtime. It's achieved by using roslib to load the manifest files for the
@@ -129,7 +129,7 @@ def get_action_result_instance(typestring: str) -> Any:
def _get_interface_class(
- typestring: str, intf_type: str, loaded_intfs: dict[str, Any], intf_lock: Lock
+ typestring: str, intf_type: str, loaded_intfs: Dict[str, Any], intf_lock: Lock
) -> Any:
"""
If not loaded, loads the specified ROS interface class then returns an instance of it.
@@ -152,7 +152,7 @@ def _get_interface_class(
return _get_class(typestring, intf_type, loaded_intfs, intf_lock)
-def _get_class(typestring: str, subname: str, cache: dict[str, Any], lock: Lock) -> Any:
+def _get_class(typestring: str, subname: str, cache: Dict[str, Any], lock: Lock) -> Any:
"""If not loaded, loads the specified class then returns an instance
of it.
@@ -206,7 +206,7 @@ def _load_class(modname: str, subname: str, classname: str) -> None:
raise InvalidClassException(modname, subname, classname, exc)
-def _splittype(typestring: str) -> tuple[str, str]:
+def _splittype(typestring: str) -> Tuple[str, str]:
"""Split the string the / delimiter and strip out empty strings
Performs similar logic to roslib.names.package_resource_name but is a bit
@@ -220,13 +220,13 @@ def _splittype(typestring: str) -> tuple[str, str]:
raise InvalidTypeStringException(typestring)
-def _add_to_cache(cache: dict[str, Any], lock: Lock, key: str, value: any) -> None:
+def _add_to_cache(cache: Dict[str, Any], lock: Lock, key: str, value: any) -> None:
lock.acquire()
cache[key] = value
lock.release()
-def _get_from_cache(cache: dict[str, Any], lock: Lock, key: str) -> Any:
+def _get_from_cache(cache: Dict[str, Any], lock: Lock, key: str) -> Any:
"""Returns the value for the specified key from the cache.
Locks the lock before doing anything. Returns None if key not in cache"""
lock.acquire()
From 3f44e5f792a409b02a0b5e0c8c931064119a9f50 Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 14:13:44 -0400
Subject: [PATCH 02/34] Reordered imports alphabetically to fix isort linting
CI error.
---
rosbridge_library/src/rosbridge_library/internal/ros_loader.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/rosbridge_library/src/rosbridge_library/internal/ros_loader.py b/rosbridge_library/src/rosbridge_library/internal/ros_loader.py
index 1b0b12f2b..c45abb896 100644
--- a/rosbridge_library/src/rosbridge_library/internal/ros_loader.py
+++ b/rosbridge_library/src/rosbridge_library/internal/ros_loader.py
@@ -33,7 +33,7 @@
import importlib
from threading import Lock
-from typing import Any, Tuple, Dict
+from typing import Any, Dict, Tuple
""" ros_loader contains methods for dynamically loading ROS message classes at
runtime. It's achieved by using roslib to load the manifest files for the
From 8b1b597f77e1008c62d48452d839ea8e53aa2390 Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 14:32:03 -0400
Subject: [PATCH 03/34] Change rosapi package to use ament_python rather than
ament_cmake.
---
rosapi/package.xml | 4 ++--
rosapi/setup.cfg | 4 ++++
rosapi/setup.py | 25 +++++++++++++++++++++++++
3 files changed, 31 insertions(+), 2 deletions(-)
create mode 100644 rosapi/setup.cfg
create mode 100644 rosapi/setup.py
diff --git a/rosapi/package.xml b/rosapi/package.xml
index af550dc72..c81c9b06f 100644
--- a/rosapi/package.xml
+++ b/rosapi/package.xml
@@ -17,7 +17,7 @@
<maintainer email="jihoonlee.in@gmail.com">Jihoon Lee</maintainer>
<maintainer email="ros-tooling@foxglove.dev">Foxglove</maintainer>
- <buildtool_depend>ament_cmake_ros</buildtool_depend>
+ <buildtool_depend>ament_python</buildtool_depend>
<exec_depend>rosapi_msgs</exec_depend>
<exec_depend>builtin_interfaces</exec_depend>
@@ -41,7 +41,7 @@
<test_depend>rmw_dds_common</test_depend>
<export>
- <build_type>ament_cmake</build_type>
+ <build_type>ament_python</build_type>
<ros1_bridge mapping_rules="mapping_rules.yaml"/>
</export>
</package>
diff --git a/rosapi/setup.cfg b/rosapi/setup.cfg
new file mode 100644
index 000000000..d59d9c698
--- /dev/null
+++ b/rosapi/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/scripts
+[install]
+install_scripts=$base/lib
diff --git a/rosapi/setup.py b/rosapi/setup.py
new file mode 100644
index 000000000..75b459fe4
--- /dev/null
+++ b/rosapi/setup.py
@@ -0,0 +1,25 @@
+from setuptools import find_packages, setup
+
+package_name = 'rosapi'
+
+setup(
+ name=package_name,
+ version='1.3.2',
+ packages=find_packages(exclude=['test']),
+ data_files=[
+ ],
+ install_requires=['setuptools'],
+ zip_safe=True,
+ author='Jonathan Mace',
+ author_email='jonathan.c.mace@gmail.com',
+ maintainer='Jihoon Lee, Foxglove',
+ maintainer_email='jihoonlee.in@gmail.com, ros-tooling@foxglove.dev',
+ description='Provides service calls for getting ros meta-information, like list of topics, services, params, etc.',
+ license='BSD',
+ tests_require=['pytest'],
+ entry_points={
+ 'console_scripts': [
+ 'rosapi_node = rosapi.rosapi_node:main'
+ ],
+ },
+)
\ No newline at end of file
From e3f823eb580efe869931d6afd78bd17e8b551c75 Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 14:37:32 -0400
Subject: [PATCH 04/34] Change rosbridge_server to use ament_python rather than
ament_cmake.
---
rosbridge_server/package.xml | 5 ++---
rosbridge_server/setup.cfg | 4 ++++
rosbridge_server/setup.py | 25 +++++++++++++++++++++++++
3 files changed, 31 insertions(+), 3 deletions(-)
create mode 100644 rosbridge_server/setup.cfg
create mode 100644 rosbridge_server/setup.py
diff --git a/rosbridge_server/package.xml b/rosbridge_server/package.xml
index 07596660c..2278e926e 100644
--- a/rosbridge_server/package.xml
+++ b/rosbridge_server/package.xml
@@ -14,8 +14,7 @@
<maintainer email="jihoonlee.in@gmail.com">Jihoon Lee</maintainer>
<maintainer email="ros-tooling@foxglove.dev">Foxglove</maintainer>
- <buildtool_depend>ament_cmake</buildtool_depend>
- <buildtool_depend>ament_cmake_ros</buildtool_depend>
+ <buildtool_depend>ament_python</buildtool_depend>
<exec_depend>python3-tornado</exec_depend>
<exec_depend>python3-twisted</exec_depend>
@@ -34,6 +33,6 @@
<test_depend>std_srvs</test_depend>
<export>
- <build_type>ament_cmake</build_type>
+ <build_type>ament_python</build_type>
</export>
</package>
diff --git a/rosbridge_server/setup.cfg b/rosbridge_server/setup.cfg
new file mode 100644
index 000000000..d59d9c698
--- /dev/null
+++ b/rosbridge_server/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/scripts
+[install]
+install_scripts=$base/lib
diff --git a/rosbridge_server/setup.py b/rosbridge_server/setup.py
new file mode 100644
index 000000000..09d27655b
--- /dev/null
+++ b/rosbridge_server/setup.py
@@ -0,0 +1,25 @@
+from setuptools import find_packages, setup
+
+package_name = 'rosbridge_server'
+
+setup(
+ name=package_name,
+ version='1.3.2',
+ packages=find_packages(exclude=['test']),
+ data_files=[
+ ],
+ install_requires=['setuptools'],
+ zip_safe=True,
+ author='Jonathan Mace',
+ author_email='jonathan.c.mace@gmail.com',
+ maintainer='Jihoon Lee, Foxglove',
+ maintainer_email='jihoonlee.in@gmail.com, ros-tooling@foxglove.dev',
+ description='A WebSocket interface to rosbridge.',
+ license='BSD',
+ tests_require=['pytest'],
+ entry_points={
+ 'console_scripts': [
+ 'rosbridge_websocket = rosbridge_server.rosbridge_websocket:main'
+ ],
+ },
+)
\ No newline at end of file
From 81b6172b0a248e68cd918bca2bd35b1a91c6b5ef Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 14:42:05 -0400
Subject: [PATCH 05/34] Fix setup.py formatting.
---
rosapi/setup.py | 39 ++++++++++++++++++---------------------
rosbridge_server/setup.py | 39 ++++++++++++++++++---------------------
2 files changed, 36 insertions(+), 42 deletions(-)
diff --git a/rosapi/setup.py b/rosapi/setup.py
index 75b459fe4..865703331 100644
--- a/rosapi/setup.py
+++ b/rosapi/setup.py
@@ -1,25 +1,22 @@
from setuptools import find_packages, setup
-package_name = 'rosapi'
+package_name = "rosapi"
setup(
- name=package_name,
- version='1.3.2',
- packages=find_packages(exclude=['test']),
- data_files=[
- ],
- install_requires=['setuptools'],
- zip_safe=True,
- author='Jonathan Mace',
- author_email='jonathan.c.mace@gmail.com',
- maintainer='Jihoon Lee, Foxglove',
- maintainer_email='jihoonlee.in@gmail.com, ros-tooling@foxglove.dev',
- description='Provides service calls for getting ros meta-information, like list of topics, services, params, etc.',
- license='BSD',
- tests_require=['pytest'],
- entry_points={
- 'console_scripts': [
- 'rosapi_node = rosapi.rosapi_node:main'
- ],
- },
-)
\ No newline at end of file
+ name=package_name,
+ version="1.3.2",
+ packages=find_packages(exclude=["test"]),
+ data_files=[],
+ install_requires=["setuptools"],
+ zip_safe=True,
+ author="Jonathan Mace",
+ author_email="jonathan.c.mace@gmail.com",
+ maintainer="Jihoon Lee, Foxglove",
+ maintainer_email="jihoonlee.in@gmail.com, ros-tooling@foxglove.dev",
+ description="Provides service calls for getting ros meta-information, like list of topics, services, params, etc.",
+ license="BSD",
+ tests_require=["pytest"],
+ entry_points={
+ "console_scripts": ["rosapi_node = rosapi.rosapi_node:main"],
+ },
+)
diff --git a/rosbridge_server/setup.py b/rosbridge_server/setup.py
index 09d27655b..cbb5b9ab6 100644
--- a/rosbridge_server/setup.py
+++ b/rosbridge_server/setup.py
@@ -1,25 +1,22 @@
from setuptools import find_packages, setup
-package_name = 'rosbridge_server'
+package_name = "rosbridge_server"
setup(
- name=package_name,
- version='1.3.2',
- packages=find_packages(exclude=['test']),
- data_files=[
- ],
- install_requires=['setuptools'],
- zip_safe=True,
- author='Jonathan Mace',
- author_email='jonathan.c.mace@gmail.com',
- maintainer='Jihoon Lee, Foxglove',
- maintainer_email='jihoonlee.in@gmail.com, ros-tooling@foxglove.dev',
- description='A WebSocket interface to rosbridge.',
- license='BSD',
- tests_require=['pytest'],
- entry_points={
- 'console_scripts': [
- 'rosbridge_websocket = rosbridge_server.rosbridge_websocket:main'
- ],
- },
-)
\ No newline at end of file
+ name=package_name,
+ version="1.3.2",
+ packages=find_packages(exclude=["test"]),
+ data_files=[],
+ install_requires=["setuptools"],
+ zip_safe=True,
+ author="Jonathan Mace",
+ author_email="jonathan.c.mace@gmail.com",
+ maintainer="Jihoon Lee, Foxglove",
+ maintainer_email="jihoonlee.in@gmail.com, ros-tooling@foxglove.dev",
+ description="A WebSocket interface to rosbridge.",
+ license="BSD",
+ tests_require=["pytest"],
+ entry_points={
+ "console_scripts": ["rosbridge_websocket = rosbridge_server.rosbridge_websocket:main"],
+ },
+)
From a6d28c6042ac419d1805f89fbf9163fb11188acf Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 14:46:07 -0400
Subject: [PATCH 06/34] Run pre-commit and commit fixes. (Not sure why this is
needed, since some of these files aren't touched in this branch.)
---
rosapi/src/rosapi/objectutils.py | 3 ++-
rosapi/src/rosapi/params.py | 1 +
rosapi/test/test_stringify_field_types.py | 3 ++-
rosbridge_server/scripts/rosbridge_websocket | 2 +-
4 files changed, 6 insertions(+), 3 deletions(-)
diff --git a/rosapi/src/rosapi/objectutils.py b/rosapi/src/rosapi/objectutils.py
index 0c981c051..7a31a0ad5 100644
--- a/rosapi/src/rosapi/objectutils.py
+++ b/rosapi/src/rosapi/objectutils.py
@@ -35,9 +35,10 @@
import logging
import re
-from rosapi.stringify_field_types import stringify_field_types
from rosbridge_library.internal import ros_loader
+from rosapi.stringify_field_types import stringify_field_types
+
# Keep track of atomic types and special types
atomics = [
"bool",
diff --git a/rosapi/src/rosapi/params.py b/rosapi/src/rosapi/params.py
index 988324895..795dd2b4f 100644
--- a/rosapi/src/rosapi/params.py
+++ b/rosapi/src/rosapi/params.py
@@ -40,6 +40,7 @@
from rclpy.parameter import get_parameter_value
from ros2node.api import get_absolute_node_name
from ros2param.api import call_get_parameters, call_set_parameters
+
from rosapi.proxy import get_nodes
""" Methods to interact with the param server. Values have to be passed
diff --git a/rosapi/test/test_stringify_field_types.py b/rosapi/test/test_stringify_field_types.py
index ca551bbd0..b6e36bc63 100644
--- a/rosapi/test/test_stringify_field_types.py
+++ b/rosapi/test/test_stringify_field_types.py
@@ -1,9 +1,10 @@
#!/usr/bin/env python
import unittest
-from rosapi.stringify_field_types import stringify_field_types
from rosbridge_library.internal.ros_loader import InvalidModuleException
+from rosapi.stringify_field_types import stringify_field_types
+
class TestObjectUtils(unittest.TestCase):
def test_stringify_field_types(self):
diff --git a/rosbridge_server/scripts/rosbridge_websocket b/rosbridge_server/scripts/rosbridge_websocket
index 647069442..c5eccad0b 120000
--- a/rosbridge_server/scripts/rosbridge_websocket
+++ b/rosbridge_server/scripts/rosbridge_websocket
@@ -1 +1 @@
-rosbridge_websocket.py
\ No newline at end of file
+rosbridge_websocket.py
From 75ec31464ced059b4d9f0aca1afe72b0aeb6f638 Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 14:50:26 -0400
Subject: [PATCH 07/34] Revert inadvertent changes to rosbridge_websocket
symlink.
---
rosbridge_server/scripts/rosbridge_websocket | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/rosbridge_server/scripts/rosbridge_websocket b/rosbridge_server/scripts/rosbridge_websocket
index c5eccad0b..647069442 120000
--- a/rosbridge_server/scripts/rosbridge_websocket
+++ b/rosbridge_server/scripts/rosbridge_websocket
@@ -1 +1 @@
-rosbridge_websocket.py
+rosbridge_websocket.py
\ No newline at end of file
From 609e03748ead113957689f70c1e44a532fbbbe8c Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 15:15:38 -0400
Subject: [PATCH 08/34] Fix launch files in rosbridge_server.
---
rosbridge_server/setup.py | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/rosbridge_server/setup.py b/rosbridge_server/setup.py
index cbb5b9ab6..78f937c2e 100644
--- a/rosbridge_server/setup.py
+++ b/rosbridge_server/setup.py
@@ -1,3 +1,5 @@
+from glob import glob
+import os
from setuptools import find_packages, setup
package_name = "rosbridge_server"
@@ -6,7 +8,7 @@
name=package_name,
version="1.3.2",
packages=find_packages(exclude=["test"]),
- data_files=[],
+ data_files=[(os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*')))],
install_requires=["setuptools"],
zip_safe=True,
author="Jonathan Mace",
From f7b258e116ab9b376a62a8a7a52351b7d40b3fe0 Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 17:47:29 -0400
Subject: [PATCH 09/34] Fix setup.cfg paths.
---
rosapi/setup.cfg | 4 ++--
rosbridge_server/setup.cfg | 4 ++--
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/rosapi/setup.cfg b/rosapi/setup.cfg
index d59d9c698..7b315f355 100644
--- a/rosapi/setup.cfg
+++ b/rosapi/setup.cfg
@@ -1,4 +1,4 @@
[develop]
-script_dir=$base/scripts
+script_dir=$base/lib/rosapi
[install]
-install_scripts=$base/lib
+install_scripts=$base/lib/rosapi
diff --git a/rosbridge_server/setup.cfg b/rosbridge_server/setup.cfg
index d59d9c698..ffe2ab328 100644
--- a/rosbridge_server/setup.cfg
+++ b/rosbridge_server/setup.cfg
@@ -1,4 +1,4 @@
[develop]
-script_dir=$base/scripts
+script_dir=$base/lib/rosbridge_server
[install]
-install_scripts=$base/lib
+install_scripts=$base/lib/rosbridge_server
From 88534ab5bddf1cb97ad16b07da3f42cb3843607c Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 17:50:40 -0400
Subject: [PATCH 10/34] Fix setup.py data_files.
---
rosapi/setup.py | 8 +++++++-
rosbridge_server/setup.py | 12 +++++++++++-
2 files changed, 18 insertions(+), 2 deletions(-)
diff --git a/rosapi/setup.py b/rosapi/setup.py
index 865703331..d7b8752a7 100644
--- a/rosapi/setup.py
+++ b/rosapi/setup.py
@@ -1,3 +1,4 @@
+import os
from setuptools import find_packages, setup
package_name = "rosapi"
@@ -6,7 +7,12 @@
name=package_name,
version="1.3.2",
packages=find_packages(exclude=["test"]),
- data_files=[],
+ data_files=[
+ # Install marker file in the package index
+ ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+ # Include our package.xml file
+ (os.path.join("share", package_name), ["package.xml"]),
+ ],
install_requires=["setuptools"],
zip_safe=True,
author="Jonathan Mace",
diff --git a/rosbridge_server/setup.py b/rosbridge_server/setup.py
index 78f937c2e..70c0516cd 100644
--- a/rosbridge_server/setup.py
+++ b/rosbridge_server/setup.py
@@ -8,7 +8,17 @@
name=package_name,
version="1.3.2",
packages=find_packages(exclude=["test"]),
- data_files=[(os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*')))],
+ data_files=[
+ # Install marker file in the package index
+ ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+ # Include our package.xml file
+ (os.path.join("share", package_name), ["package.xml"]),
+ # Include all launch files.
+ (
+ os.path.join("share", package_name, "launch"),
+ glob(os.path.join("launch", "*launch.[pxy][yma]*")),
+ ),
+ ],
install_requires=["setuptools"],
zip_safe=True,
author="Jonathan Mace",
From 1617efcaa75b235fe8096ef79d3064a6d23dc5c5 Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 17:57:16 -0400
Subject: [PATCH 11/34] Moved rosapi_node and rosbridge_websocket.py into
respective packages.
---
rosapi/{scripts/rosapi_node => src/rosapi/rosapi_node.py} | 0
rosbridge_server/scripts/rosbridge_websocket | 1 -
.../{scripts => src/rosbridge_server}/rosbridge_websocket.py | 0
3 files changed, 1 deletion(-)
rename rosapi/{scripts/rosapi_node => src/rosapi/rosapi_node.py} (100%)
mode change 100755 => 100644
delete mode 120000 rosbridge_server/scripts/rosbridge_websocket
rename rosbridge_server/{scripts => src/rosbridge_server}/rosbridge_websocket.py (100%)
mode change 100755 => 100644
diff --git a/rosapi/scripts/rosapi_node b/rosapi/src/rosapi/rosapi_node.py
old mode 100755
new mode 100644
similarity index 100%
rename from rosapi/scripts/rosapi_node
rename to rosapi/src/rosapi/rosapi_node.py
diff --git a/rosbridge_server/scripts/rosbridge_websocket b/rosbridge_server/scripts/rosbridge_websocket
deleted file mode 120000
index 647069442..000000000
--- a/rosbridge_server/scripts/rosbridge_websocket
+++ /dev/null
@@ -1 +0,0 @@
-rosbridge_websocket.py
\ No newline at end of file
diff --git a/rosbridge_server/scripts/rosbridge_websocket.py b/rosbridge_server/src/rosbridge_server/rosbridge_websocket.py
old mode 100755
new mode 100644
similarity index 100%
rename from rosbridge_server/scripts/rosbridge_websocket.py
rename to rosbridge_server/src/rosbridge_server/rosbridge_websocket.py
From b808d1aec5bee8d1b3251b421a2a485af9b442d5 Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 17:59:26 -0400
Subject: [PATCH 12/34] Add resource files.
---
rosapi/resource/rosapi | 0
rosbridge_server/resource/rosbridge_server | 0
2 files changed, 0 insertions(+), 0 deletions(-)
create mode 100644 rosapi/resource/rosapi
create mode 100644 rosbridge_server/resource/rosbridge_server
diff --git a/rosapi/resource/rosapi b/rosapi/resource/rosapi
new file mode 100644
index 000000000..e69de29bb
diff --git a/rosbridge_server/resource/rosbridge_server b/rosbridge_server/resource/rosbridge_server
new file mode 100644
index 000000000..e69de29bb
From 18766814e759ce9f6fc66e3b819b7ce68a65776c Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 18:11:20 -0400
Subject: [PATCH 13/34] Reorganize package to follow ROS2 python convention
(and resolve issue with find_packages)
---
rosapi/{src => }/rosapi/__init__.py | 0
rosapi/{src => }/rosapi/glob_helper.py | 0
rosapi/{src => }/rosapi/objectutils.py | 0
rosapi/{src => }/rosapi/params.py | 0
rosapi/{src => }/rosapi/proxy.py | 0
rosapi/{src => }/rosapi/rosapi_node.py | 0
rosapi/{src => }/rosapi/stringify_field_types.py | 0
rosbridge_server/{src => }/rosbridge_server/__init__.py | 0
rosbridge_server/{src => }/rosbridge_server/client_manager.py | 0
.../{src => }/rosbridge_server/rosbridge_websocket.py | 0
rosbridge_server/{src => }/rosbridge_server/websocket_handler.py | 0
11 files changed, 0 insertions(+), 0 deletions(-)
rename rosapi/{src => }/rosapi/__init__.py (100%)
rename rosapi/{src => }/rosapi/glob_helper.py (100%)
rename rosapi/{src => }/rosapi/objectutils.py (100%)
rename rosapi/{src => }/rosapi/params.py (100%)
rename rosapi/{src => }/rosapi/proxy.py (100%)
rename rosapi/{src => }/rosapi/rosapi_node.py (100%)
rename rosapi/{src => }/rosapi/stringify_field_types.py (100%)
rename rosbridge_server/{src => }/rosbridge_server/__init__.py (100%)
rename rosbridge_server/{src => }/rosbridge_server/client_manager.py (100%)
rename rosbridge_server/{src => }/rosbridge_server/rosbridge_websocket.py (100%)
rename rosbridge_server/{src => }/rosbridge_server/websocket_handler.py (100%)
mode change 100755 => 100644
diff --git a/rosapi/src/rosapi/__init__.py b/rosapi/rosapi/__init__.py
similarity index 100%
rename from rosapi/src/rosapi/__init__.py
rename to rosapi/rosapi/__init__.py
diff --git a/rosapi/src/rosapi/glob_helper.py b/rosapi/rosapi/glob_helper.py
similarity index 100%
rename from rosapi/src/rosapi/glob_helper.py
rename to rosapi/rosapi/glob_helper.py
diff --git a/rosapi/src/rosapi/objectutils.py b/rosapi/rosapi/objectutils.py
similarity index 100%
rename from rosapi/src/rosapi/objectutils.py
rename to rosapi/rosapi/objectutils.py
diff --git a/rosapi/src/rosapi/params.py b/rosapi/rosapi/params.py
similarity index 100%
rename from rosapi/src/rosapi/params.py
rename to rosapi/rosapi/params.py
diff --git a/rosapi/src/rosapi/proxy.py b/rosapi/rosapi/proxy.py
similarity index 100%
rename from rosapi/src/rosapi/proxy.py
rename to rosapi/rosapi/proxy.py
diff --git a/rosapi/src/rosapi/rosapi_node.py b/rosapi/rosapi/rosapi_node.py
similarity index 100%
rename from rosapi/src/rosapi/rosapi_node.py
rename to rosapi/rosapi/rosapi_node.py
diff --git a/rosapi/src/rosapi/stringify_field_types.py b/rosapi/rosapi/stringify_field_types.py
similarity index 100%
rename from rosapi/src/rosapi/stringify_field_types.py
rename to rosapi/rosapi/stringify_field_types.py
diff --git a/rosbridge_server/src/rosbridge_server/__init__.py b/rosbridge_server/rosbridge_server/__init__.py
similarity index 100%
rename from rosbridge_server/src/rosbridge_server/__init__.py
rename to rosbridge_server/rosbridge_server/__init__.py
diff --git a/rosbridge_server/src/rosbridge_server/client_manager.py b/rosbridge_server/rosbridge_server/client_manager.py
similarity index 100%
rename from rosbridge_server/src/rosbridge_server/client_manager.py
rename to rosbridge_server/rosbridge_server/client_manager.py
diff --git a/rosbridge_server/src/rosbridge_server/rosbridge_websocket.py b/rosbridge_server/rosbridge_server/rosbridge_websocket.py
similarity index 100%
rename from rosbridge_server/src/rosbridge_server/rosbridge_websocket.py
rename to rosbridge_server/rosbridge_server/rosbridge_websocket.py
diff --git a/rosbridge_server/src/rosbridge_server/websocket_handler.py b/rosbridge_server/rosbridge_server/websocket_handler.py
old mode 100755
new mode 100644
similarity index 100%
rename from rosbridge_server/src/rosbridge_server/websocket_handler.py
rename to rosbridge_server/rosbridge_server/websocket_handler.py
From 24317fcb399ac0623c521435919ed85832fefa11 Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 18:14:55 -0400
Subject: [PATCH 14/34] Run pre-commit and fix linting errors.
---
rosapi/setup.py | 1 +
rosbridge_server/setup.py | 3 ++-
2 files changed, 3 insertions(+), 1 deletion(-)
diff --git a/rosapi/setup.py b/rosapi/setup.py
index d7b8752a7..d86d5febe 100644
--- a/rosapi/setup.py
+++ b/rosapi/setup.py
@@ -1,4 +1,5 @@
import os
+
from setuptools import find_packages, setup
package_name = "rosapi"
diff --git a/rosbridge_server/setup.py b/rosbridge_server/setup.py
index 70c0516cd..3f98a8e28 100644
--- a/rosbridge_server/setup.py
+++ b/rosbridge_server/setup.py
@@ -1,5 +1,6 @@
-from glob import glob
import os
+from glob import glob
+
from setuptools import find_packages, setup
package_name = "rosbridge_server"
From 974c6b700aaaab666fff814f2ec19596e94d5b52 Mon Sep 17 00:00:00 2001
From: Brad Martin <52003535+bmartin427@users.noreply.github.com>
Date: Wed, 14 Aug 2024 23:02:38 -0400
Subject: [PATCH 15/34] rosapi: Don't start parameter services that aren't spun
(#943) (#944)
---
rosapi/src/rosapi/params.py | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/rosapi/src/rosapi/params.py b/rosapi/src/rosapi/params.py
index 988324895..36af6913f 100644
--- a/rosapi/src/rosapi/params.py
+++ b/rosapi/src/rosapi/params.py
@@ -75,7 +75,9 @@ def init(parent_node_name):
parent_node_basename = parent_node_name.split("/")[-1]
param_node_name = f"{parent_node_basename}_params"
_node = rclpy.create_node(
- param_node_name, cli_args=["--ros-args", "-r", f"__node:={param_node_name}"]
+ param_node_name,
+ cli_args=["--ros-args", "-r", f"__node:={param_node_name}"],
+ start_parameter_services=False,
)
_parent_node_name = get_absolute_node_name(parent_node_name)
From 8b0b4c5aa85173fe0efc709eb2a85cb8d90b4732 Mon Sep 17 00:00:00 2001
From: Brad Martin <52003535+bmartin427@users.noreply.github.com>
Date: Wed, 14 Aug 2024 23:10:40 -0400
Subject: [PATCH 16/34] rosbridge_websocket: Stop websocket server if ROS shuts
down (#945) (#946)
Signed-off-by: Brad Martin <brad.martin@merlinlabs.com>
---
rosbridge_server/scripts/rosbridge_websocket.py | 8 +++++++-
1 file changed, 7 insertions(+), 1 deletion(-)
diff --git a/rosbridge_server/scripts/rosbridge_websocket.py b/rosbridge_server/scripts/rosbridge_websocket.py
index bfa968d15..49d2a52b6 100755
--- a/rosbridge_server/scripts/rosbridge_websocket.py
+++ b/rosbridge_server/scripts/rosbridge_websocket.py
@@ -337,7 +337,13 @@ def main(args=None):
executor = rclpy.executors.SingleThreadedExecutor()
executor.add_node(node)
- spin_callback = PeriodicCallback(lambda: executor.spin_once(timeout_sec=0.01), 1)
+
+ def spin_ros():
+ executor.spin_once(timeout_sec=0.01)
+ if not rclpy.ok():
+ shutdown_hook()
+
+ spin_callback = PeriodicCallback(spin_ros, 1)
spin_callback.start()
try:
start_hook()
From baa463a1327ee404946dfdc711e9683ad332942a Mon Sep 17 00:00:00 2001
From: Brad Martin <52003535+bmartin427@users.noreply.github.com>
Date: Wed, 14 Aug 2024 23:18:29 -0400
Subject: [PATCH 17/34] Avoid stale subscription when unsubscribing during
resubscription (#947) (#948)
If a client asks to subscribe to the same topic more than once, then disconnects, only a
pending 'new' subscription may get deleted, leaving the 'old' subscription active
indefinitely.
Signed-off-by: Brad Martin <brad.martin@merlinlabs.com>
---
rosbridge_library/src/rosbridge_library/internal/subscribers.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/rosbridge_library/src/rosbridge_library/internal/subscribers.py b/rosbridge_library/src/rosbridge_library/internal/subscribers.py
index 0bb94a809..c698c0b79 100644
--- a/rosbridge_library/src/rosbridge_library/internal/subscribers.py
+++ b/rosbridge_library/src/rosbridge_library/internal/subscribers.py
@@ -196,7 +196,7 @@ def unsubscribe(self, client_id):
with self.rlock:
if client_id in self.new_subscriptions:
del self.new_subscriptions[client_id]
- else:
+ if client_id in self.subscriptions:
del self.subscriptions[client_id]
def has_subscribers(self):
From 996fddd6d4c4e60c78d11f2df61a892d2164cea3 Mon Sep 17 00:00:00 2001
From: ManuETR <37251724+ManuETR@users.noreply.github.com>
Date: Thu, 15 Aug 2024 05:27:13 +0200
Subject: [PATCH 18/34] docs: update ROSBRIDGE_PROTOCOL.md - correcting
indentation (#949)
Add whitespace in front of all ROS action operations -- for correct indentation in Markdown
---
ROSBRIDGE_PROTOCOL.md | 12 ++++++------
1 file changed, 6 insertions(+), 6 deletions(-)
diff --git a/ROSBRIDGE_PROTOCOL.md b/ROSBRIDGE_PROTOCOL.md
index e58850d61..4a7e82468 100644
--- a/ROSBRIDGE_PROTOCOL.md
+++ b/ROSBRIDGE_PROTOCOL.md
@@ -93,12 +93,12 @@ ROS operations:
* **call_service** - a service call
* **service_response** - a service response
* Actions:
- * **advertise_action** - advertise an external action server
- * **unadvertise_action** - unadvertise an external action server
- * **send_action_goal** - a goal sent to an action server
- * **cancel_action_goal** - cancel an in-progress action goal
- * **action_feedback** - feedback messages from an action server
- * **action_result** - an action result
+ * **advertise_action** - advertise an external action server
+ * **unadvertise_action** - unadvertise an external action server
+ * **send_action_goal** - a goal sent to an action server
+ * **cancel_action_goal** - cancel an in-progress action goal
+ * **action_feedback** - feedback messages from an action server
+ * **action_result** - an action result
In general, actions or operations that the client takes (such as publishing and
subscribing) have opcodes which are verbs (subscribe, call_service, unadvertise
From febe1c46df9066ff468932924f99cec52b04517e Mon Sep 17 00:00:00 2001
From: Dimitri Nikitopoulos <dnikitop@gmail.com>
Date: Thu, 15 Aug 2024 08:53:03 -0400
Subject: [PATCH 19/34] fix: update new subs with dds from publisher (#940)
---
.../src/rosbridge_library/internal/subscribers.py | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/rosbridge_library/src/rosbridge_library/internal/subscribers.py b/rosbridge_library/src/rosbridge_library/internal/subscribers.py
index c698c0b79..a64c90b7f 100644
--- a/rosbridge_library/src/rosbridge_library/internal/subscribers.py
+++ b/rosbridge_library/src/rosbridge_library/internal/subscribers.py
@@ -176,6 +176,11 @@ def subscribe(self, client_id, callback):
# In any case, the first message is handled using new_sub_callback,
# which adds the new callback to the subscriptions dictionary.
self.new_subscriptions.update({client_id: callback})
+ infos = self.node_handle.get_publishers_info_by_topic(self.topic)
+ if any(pub.qos_profile.durability == DurabilityPolicy.TRANSIENT_LOCAL for pub in infos):
+ self.qos.durability = DurabilityPolicy.TRANSIENT_LOCAL
+ if any(pub.qos_profile.reliability == ReliabilityPolicy.BEST_EFFORT for pub in infos):
+ self.qos.reliability = ReliabilityPolicy.BEST_EFFORT
if self.new_subscriber is None:
self.new_subscriber = self.node_handle.create_subscription(
self.msg_class,
From 677dcaeefa9f5c65633e9ef1dfb5083e62b06ddd Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Thu, 15 Aug 2024 13:11:15 -0400
Subject: [PATCH 20/34] Fixed executable bit on scripts.
---
rosapi/rosapi/rosapi_node.py | 0
rosbridge_server/rosbridge_server/rosbridge_websocket.py | 0
rosbridge_server/rosbridge_server/websocket_handler.py | 0
3 files changed, 0 insertions(+), 0 deletions(-)
mode change 100644 => 100755 rosapi/rosapi/rosapi_node.py
mode change 100644 => 100755 rosbridge_server/rosbridge_server/rosbridge_websocket.py
mode change 100644 => 100755 rosbridge_server/rosbridge_server/websocket_handler.py
diff --git a/rosapi/rosapi/rosapi_node.py b/rosapi/rosapi/rosapi_node.py
old mode 100644
new mode 100755
diff --git a/rosbridge_server/rosbridge_server/rosbridge_websocket.py b/rosbridge_server/rosbridge_server/rosbridge_websocket.py
old mode 100644
new mode 100755
diff --git a/rosbridge_server/rosbridge_server/websocket_handler.py b/rosbridge_server/rosbridge_server/websocket_handler.py
old mode 100644
new mode 100755
From 55b8fa321804fdd3b8b1f3e7dd1d987ef73e30f0 Mon Sep 17 00:00:00 2001
From: Ezra Brooks <ezra@brooks.cx>
Date: Thu, 15 Aug 2024 13:32:29 -0600
Subject: [PATCH 21/34] Fix length-limited list types (#840)
---
.../internal/message_conversion.py | 4 ++--
.../test/internal/test_message_conversion.py | 18 ++++++++++++++++++
rosbridge_test_msgs/CMakeLists.txt | 1 +
.../msg/TestNestedBoundedArray.msg | 1 +
4 files changed, 22 insertions(+), 2 deletions(-)
create mode 100644 rosbridge_test_msgs/msg/TestNestedBoundedArray.msg
diff --git a/rosbridge_library/src/rosbridge_library/internal/message_conversion.py b/rosbridge_library/src/rosbridge_library/internal/message_conversion.py
index d3361cfa3..a0d833ce2 100644
--- a/rosbridge_library/src/rosbridge_library/internal/message_conversion.py
+++ b/rosbridge_library/src/rosbridge_library/internal/message_conversion.py
@@ -90,7 +90,8 @@
]
ros_header_types = ["Header", "std_msgs/Header", "roslib/Header"]
ros_binary_types = ["uint8[]", "char[]", "sequence<uint8>", "sequence<char>"]
-list_tokens = re.compile("<(.+?)>")
+# Remove the list type wrapper, and length specifier, from rostypes i.e. sequence<double, 3>
+list_tokens = re.compile(r"<(.+?)(, \d+)?>")
bounded_array_tokens = re.compile(r"(.+)\[.*\]")
ros_binary_types_list_braces = [
("uint8[]", re.compile(r"uint8\[[^\]]*\]")),
@@ -392,7 +393,6 @@ def _to_object_inst(msg, rostype, roottype, clock, inst, stack):
inst.stamp = clock.now().to_msg()
inst_fields = inst.get_fields_and_field_types()
-
for field_name in msg:
# Add this field to the field stack
field_stack = stack + [field_name]
diff --git a/rosbridge_library/test/internal/test_message_conversion.py b/rosbridge_library/test/internal/test_message_conversion.py
index 9ccba4f05..f837e6275 100755
--- a/rosbridge_library/test/internal/test_message_conversion.py
+++ b/rosbridge_library/test/internal/test_message_conversion.py
@@ -316,3 +316,21 @@ def test_float32_msg(rostype, data):
ints = list(map(int, range(0, 16)))
ret = test_float32_msg(rostype, ints)
np.testing.assert_array_equal(ret, np.array(ints))
+
+ # Test a float32 array with a length with non-numeric characters in it
+ def test_float32_complexboundedarray(self):
+ def test_nestedboundedarray_msg(rostype, data):
+ msg = {"data": {"data": data}}
+ inst = ros_loader.get_message_instance(rostype)
+ c.populate_instance(msg, inst)
+ self.validate_instance(inst)
+ return inst.data
+
+ for msgtype in ["TestNestedBoundedArray"]:
+ rostype = "rosbridge_test_msgs/" + msgtype
+
+ # From List[float]
+ floats = list(map(float, range(0, 16)))
+ ret = test_nestedboundedarray_msg(rostype, floats)
+
+ self.assertEqual(c._from_inst(ret, rostype), {"data": floats})
diff --git a/rosbridge_test_msgs/CMakeLists.txt b/rosbridge_test_msgs/CMakeLists.txt
index e327c419d..4ef1e87df 100644
--- a/rosbridge_test_msgs/CMakeLists.txt
+++ b/rosbridge_test_msgs/CMakeLists.txt
@@ -20,6 +20,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
msg/TestUInt8FixedSizeArray16.msg
msg/TestFloat32Array.msg
msg/TestFloat32BoundedArray.msg
+ msg/TestNestedBoundedArray.msg
srv/AddTwoInts.srv
srv/SendBytes.srv
srv/TestArrayRequest.srv
diff --git a/rosbridge_test_msgs/msg/TestNestedBoundedArray.msg b/rosbridge_test_msgs/msg/TestNestedBoundedArray.msg
new file mode 100644
index 000000000..a35d82372
--- /dev/null
+++ b/rosbridge_test_msgs/msg/TestNestedBoundedArray.msg
@@ -0,0 +1 @@
+TestFloat32BoundedArray data
From f7aa27a4515ff3af54c40f9a4877e5fc3edb981c Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 14:32:03 -0400
Subject: [PATCH 22/34] Change rosapi package to use ament_python rather than
ament_cmake.
---
rosapi/package.xml | 4 ++--
rosapi/setup.cfg | 4 ++++
rosapi/setup.py | 25 +++++++++++++++++++++++++
3 files changed, 31 insertions(+), 2 deletions(-)
create mode 100644 rosapi/setup.cfg
create mode 100644 rosapi/setup.py
diff --git a/rosapi/package.xml b/rosapi/package.xml
index af550dc72..c81c9b06f 100644
--- a/rosapi/package.xml
+++ b/rosapi/package.xml
@@ -17,7 +17,7 @@
<maintainer email="jihoonlee.in@gmail.com">Jihoon Lee</maintainer>
<maintainer email="ros-tooling@foxglove.dev">Foxglove</maintainer>
- <buildtool_depend>ament_cmake_ros</buildtool_depend>
+ <buildtool_depend>ament_python</buildtool_depend>
<exec_depend>rosapi_msgs</exec_depend>
<exec_depend>builtin_interfaces</exec_depend>
@@ -41,7 +41,7 @@
<test_depend>rmw_dds_common</test_depend>
<export>
- <build_type>ament_cmake</build_type>
+ <build_type>ament_python</build_type>
<ros1_bridge mapping_rules="mapping_rules.yaml"/>
</export>
</package>
diff --git a/rosapi/setup.cfg b/rosapi/setup.cfg
new file mode 100644
index 000000000..d59d9c698
--- /dev/null
+++ b/rosapi/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/scripts
+[install]
+install_scripts=$base/lib
diff --git a/rosapi/setup.py b/rosapi/setup.py
new file mode 100644
index 000000000..75b459fe4
--- /dev/null
+++ b/rosapi/setup.py
@@ -0,0 +1,25 @@
+from setuptools import find_packages, setup
+
+package_name = 'rosapi'
+
+setup(
+ name=package_name,
+ version='1.3.2',
+ packages=find_packages(exclude=['test']),
+ data_files=[
+ ],
+ install_requires=['setuptools'],
+ zip_safe=True,
+ author='Jonathan Mace',
+ author_email='jonathan.c.mace@gmail.com',
+ maintainer='Jihoon Lee, Foxglove',
+ maintainer_email='jihoonlee.in@gmail.com, ros-tooling@foxglove.dev',
+ description='Provides service calls for getting ros meta-information, like list of topics, services, params, etc.',
+ license='BSD',
+ tests_require=['pytest'],
+ entry_points={
+ 'console_scripts': [
+ 'rosapi_node = rosapi.rosapi_node:main'
+ ],
+ },
+)
\ No newline at end of file
From 28eb1c0a2acea66f383de3298d51522059c7fa52 Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 14:37:32 -0400
Subject: [PATCH 23/34] Change rosbridge_server to use ament_python rather than
ament_cmake.
---
rosbridge_server/package.xml | 5 ++---
rosbridge_server/setup.cfg | 4 ++++
rosbridge_server/setup.py | 25 +++++++++++++++++++++++++
3 files changed, 31 insertions(+), 3 deletions(-)
create mode 100644 rosbridge_server/setup.cfg
create mode 100644 rosbridge_server/setup.py
diff --git a/rosbridge_server/package.xml b/rosbridge_server/package.xml
index 07596660c..2278e926e 100644
--- a/rosbridge_server/package.xml
+++ b/rosbridge_server/package.xml
@@ -14,8 +14,7 @@
<maintainer email="jihoonlee.in@gmail.com">Jihoon Lee</maintainer>
<maintainer email="ros-tooling@foxglove.dev">Foxglove</maintainer>
- <buildtool_depend>ament_cmake</buildtool_depend>
- <buildtool_depend>ament_cmake_ros</buildtool_depend>
+ <buildtool_depend>ament_python</buildtool_depend>
<exec_depend>python3-tornado</exec_depend>
<exec_depend>python3-twisted</exec_depend>
@@ -34,6 +33,6 @@
<test_depend>std_srvs</test_depend>
<export>
- <build_type>ament_cmake</build_type>
+ <build_type>ament_python</build_type>
</export>
</package>
diff --git a/rosbridge_server/setup.cfg b/rosbridge_server/setup.cfg
new file mode 100644
index 000000000..d59d9c698
--- /dev/null
+++ b/rosbridge_server/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/scripts
+[install]
+install_scripts=$base/lib
diff --git a/rosbridge_server/setup.py b/rosbridge_server/setup.py
new file mode 100644
index 000000000..09d27655b
--- /dev/null
+++ b/rosbridge_server/setup.py
@@ -0,0 +1,25 @@
+from setuptools import find_packages, setup
+
+package_name = 'rosbridge_server'
+
+setup(
+ name=package_name,
+ version='1.3.2',
+ packages=find_packages(exclude=['test']),
+ data_files=[
+ ],
+ install_requires=['setuptools'],
+ zip_safe=True,
+ author='Jonathan Mace',
+ author_email='jonathan.c.mace@gmail.com',
+ maintainer='Jihoon Lee, Foxglove',
+ maintainer_email='jihoonlee.in@gmail.com, ros-tooling@foxglove.dev',
+ description='A WebSocket interface to rosbridge.',
+ license='BSD',
+ tests_require=['pytest'],
+ entry_points={
+ 'console_scripts': [
+ 'rosbridge_websocket = rosbridge_server.rosbridge_websocket:main'
+ ],
+ },
+)
\ No newline at end of file
From ad1aa25cbe05ad473098695f78138531984fac8b Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 14:42:05 -0400
Subject: [PATCH 24/34] Fix setup.py formatting.
---
rosapi/setup.py | 39 ++++++++++++++++++---------------------
rosbridge_server/setup.py | 39 ++++++++++++++++++---------------------
2 files changed, 36 insertions(+), 42 deletions(-)
diff --git a/rosapi/setup.py b/rosapi/setup.py
index 75b459fe4..865703331 100644
--- a/rosapi/setup.py
+++ b/rosapi/setup.py
@@ -1,25 +1,22 @@
from setuptools import find_packages, setup
-package_name = 'rosapi'
+package_name = "rosapi"
setup(
- name=package_name,
- version='1.3.2',
- packages=find_packages(exclude=['test']),
- data_files=[
- ],
- install_requires=['setuptools'],
- zip_safe=True,
- author='Jonathan Mace',
- author_email='jonathan.c.mace@gmail.com',
- maintainer='Jihoon Lee, Foxglove',
- maintainer_email='jihoonlee.in@gmail.com, ros-tooling@foxglove.dev',
- description='Provides service calls for getting ros meta-information, like list of topics, services, params, etc.',
- license='BSD',
- tests_require=['pytest'],
- entry_points={
- 'console_scripts': [
- 'rosapi_node = rosapi.rosapi_node:main'
- ],
- },
-)
\ No newline at end of file
+ name=package_name,
+ version="1.3.2",
+ packages=find_packages(exclude=["test"]),
+ data_files=[],
+ install_requires=["setuptools"],
+ zip_safe=True,
+ author="Jonathan Mace",
+ author_email="jonathan.c.mace@gmail.com",
+ maintainer="Jihoon Lee, Foxglove",
+ maintainer_email="jihoonlee.in@gmail.com, ros-tooling@foxglove.dev",
+ description="Provides service calls for getting ros meta-information, like list of topics, services, params, etc.",
+ license="BSD",
+ tests_require=["pytest"],
+ entry_points={
+ "console_scripts": ["rosapi_node = rosapi.rosapi_node:main"],
+ },
+)
diff --git a/rosbridge_server/setup.py b/rosbridge_server/setup.py
index 09d27655b..cbb5b9ab6 100644
--- a/rosbridge_server/setup.py
+++ b/rosbridge_server/setup.py
@@ -1,25 +1,22 @@
from setuptools import find_packages, setup
-package_name = 'rosbridge_server'
+package_name = "rosbridge_server"
setup(
- name=package_name,
- version='1.3.2',
- packages=find_packages(exclude=['test']),
- data_files=[
- ],
- install_requires=['setuptools'],
- zip_safe=True,
- author='Jonathan Mace',
- author_email='jonathan.c.mace@gmail.com',
- maintainer='Jihoon Lee, Foxglove',
- maintainer_email='jihoonlee.in@gmail.com, ros-tooling@foxglove.dev',
- description='A WebSocket interface to rosbridge.',
- license='BSD',
- tests_require=['pytest'],
- entry_points={
- 'console_scripts': [
- 'rosbridge_websocket = rosbridge_server.rosbridge_websocket:main'
- ],
- },
-)
\ No newline at end of file
+ name=package_name,
+ version="1.3.2",
+ packages=find_packages(exclude=["test"]),
+ data_files=[],
+ install_requires=["setuptools"],
+ zip_safe=True,
+ author="Jonathan Mace",
+ author_email="jonathan.c.mace@gmail.com",
+ maintainer="Jihoon Lee, Foxglove",
+ maintainer_email="jihoonlee.in@gmail.com, ros-tooling@foxglove.dev",
+ description="A WebSocket interface to rosbridge.",
+ license="BSD",
+ tests_require=["pytest"],
+ entry_points={
+ "console_scripts": ["rosbridge_websocket = rosbridge_server.rosbridge_websocket:main"],
+ },
+)
From 98b4347beecce011793e144203cd956541c829a2 Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 14:46:07 -0400
Subject: [PATCH 25/34] Run pre-commit and commit fixes. (Not sure why this is
needed, since some of these files aren't touched in this branch.)
---
rosapi/src/rosapi/objectutils.py | 3 ++-
rosapi/src/rosapi/params.py | 1 +
rosapi/test/test_stringify_field_types.py | 3 ++-
rosbridge_server/scripts/rosbridge_websocket | 2 +-
4 files changed, 6 insertions(+), 3 deletions(-)
diff --git a/rosapi/src/rosapi/objectutils.py b/rosapi/src/rosapi/objectutils.py
index 0c981c051..7a31a0ad5 100644
--- a/rosapi/src/rosapi/objectutils.py
+++ b/rosapi/src/rosapi/objectutils.py
@@ -35,9 +35,10 @@
import logging
import re
-from rosapi.stringify_field_types import stringify_field_types
from rosbridge_library.internal import ros_loader
+from rosapi.stringify_field_types import stringify_field_types
+
# Keep track of atomic types and special types
atomics = [
"bool",
diff --git a/rosapi/src/rosapi/params.py b/rosapi/src/rosapi/params.py
index 36af6913f..209ab4f90 100644
--- a/rosapi/src/rosapi/params.py
+++ b/rosapi/src/rosapi/params.py
@@ -40,6 +40,7 @@
from rclpy.parameter import get_parameter_value
from ros2node.api import get_absolute_node_name
from ros2param.api import call_get_parameters, call_set_parameters
+
from rosapi.proxy import get_nodes
""" Methods to interact with the param server. Values have to be passed
diff --git a/rosapi/test/test_stringify_field_types.py b/rosapi/test/test_stringify_field_types.py
index ca551bbd0..b6e36bc63 100644
--- a/rosapi/test/test_stringify_field_types.py
+++ b/rosapi/test/test_stringify_field_types.py
@@ -1,9 +1,10 @@
#!/usr/bin/env python
import unittest
-from rosapi.stringify_field_types import stringify_field_types
from rosbridge_library.internal.ros_loader import InvalidModuleException
+from rosapi.stringify_field_types import stringify_field_types
+
class TestObjectUtils(unittest.TestCase):
def test_stringify_field_types(self):
diff --git a/rosbridge_server/scripts/rosbridge_websocket b/rosbridge_server/scripts/rosbridge_websocket
index 647069442..c5eccad0b 120000
--- a/rosbridge_server/scripts/rosbridge_websocket
+++ b/rosbridge_server/scripts/rosbridge_websocket
@@ -1 +1 @@
-rosbridge_websocket.py
\ No newline at end of file
+rosbridge_websocket.py
From b9d200d569ed52654919a873df61fa0c49c983fc Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 14:50:26 -0400
Subject: [PATCH 26/34] Revert inadvertent changes to rosbridge_websocket
symlink.
---
rosbridge_server/scripts/rosbridge_websocket | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/rosbridge_server/scripts/rosbridge_websocket b/rosbridge_server/scripts/rosbridge_websocket
index c5eccad0b..647069442 120000
--- a/rosbridge_server/scripts/rosbridge_websocket
+++ b/rosbridge_server/scripts/rosbridge_websocket
@@ -1 +1 @@
-rosbridge_websocket.py
+rosbridge_websocket.py
\ No newline at end of file
From 889b229b9ebe05232c68c826664799eee6aa971a Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 15:15:38 -0400
Subject: [PATCH 27/34] Fix launch files in rosbridge_server.
---
rosbridge_server/setup.py | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/rosbridge_server/setup.py b/rosbridge_server/setup.py
index cbb5b9ab6..78f937c2e 100644
--- a/rosbridge_server/setup.py
+++ b/rosbridge_server/setup.py
@@ -1,3 +1,5 @@
+from glob import glob
+import os
from setuptools import find_packages, setup
package_name = "rosbridge_server"
@@ -6,7 +8,7 @@
name=package_name,
version="1.3.2",
packages=find_packages(exclude=["test"]),
- data_files=[],
+ data_files=[(os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*')))],
install_requires=["setuptools"],
zip_safe=True,
author="Jonathan Mace",
From 2882d8ea4f1ab905c52a91711f8800083ce8e32b Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 17:47:29 -0400
Subject: [PATCH 28/34] Fix setup.cfg paths.
---
rosapi/setup.cfg | 4 ++--
rosbridge_server/setup.cfg | 4 ++--
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/rosapi/setup.cfg b/rosapi/setup.cfg
index d59d9c698..7b315f355 100644
--- a/rosapi/setup.cfg
+++ b/rosapi/setup.cfg
@@ -1,4 +1,4 @@
[develop]
-script_dir=$base/scripts
+script_dir=$base/lib/rosapi
[install]
-install_scripts=$base/lib
+install_scripts=$base/lib/rosapi
diff --git a/rosbridge_server/setup.cfg b/rosbridge_server/setup.cfg
index d59d9c698..ffe2ab328 100644
--- a/rosbridge_server/setup.cfg
+++ b/rosbridge_server/setup.cfg
@@ -1,4 +1,4 @@
[develop]
-script_dir=$base/scripts
+script_dir=$base/lib/rosbridge_server
[install]
-install_scripts=$base/lib
+install_scripts=$base/lib/rosbridge_server
From 407af907e8fe157cfdea74331ea4dcd120926230 Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 17:50:40 -0400
Subject: [PATCH 29/34] Fix setup.py data_files.
---
rosapi/setup.py | 8 +++++++-
rosbridge_server/setup.py | 12 +++++++++++-
2 files changed, 18 insertions(+), 2 deletions(-)
diff --git a/rosapi/setup.py b/rosapi/setup.py
index 865703331..d7b8752a7 100644
--- a/rosapi/setup.py
+++ b/rosapi/setup.py
@@ -1,3 +1,4 @@
+import os
from setuptools import find_packages, setup
package_name = "rosapi"
@@ -6,7 +7,12 @@
name=package_name,
version="1.3.2",
packages=find_packages(exclude=["test"]),
- data_files=[],
+ data_files=[
+ # Install marker file in the package index
+ ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+ # Include our package.xml file
+ (os.path.join("share", package_name), ["package.xml"]),
+ ],
install_requires=["setuptools"],
zip_safe=True,
author="Jonathan Mace",
diff --git a/rosbridge_server/setup.py b/rosbridge_server/setup.py
index 78f937c2e..70c0516cd 100644
--- a/rosbridge_server/setup.py
+++ b/rosbridge_server/setup.py
@@ -8,7 +8,17 @@
name=package_name,
version="1.3.2",
packages=find_packages(exclude=["test"]),
- data_files=[(os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*')))],
+ data_files=[
+ # Install marker file in the package index
+ ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+ # Include our package.xml file
+ (os.path.join("share", package_name), ["package.xml"]),
+ # Include all launch files.
+ (
+ os.path.join("share", package_name, "launch"),
+ glob(os.path.join("launch", "*launch.[pxy][yma]*")),
+ ),
+ ],
install_requires=["setuptools"],
zip_safe=True,
author="Jonathan Mace",
From ce4d93765e18acd66cb4a17a4dd89b50992abc3a Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 17:57:16 -0400
Subject: [PATCH 30/34] Moved rosapi_node and rosbridge_websocket.py into
respective packages.
---
rosapi/{scripts/rosapi_node => src/rosapi/rosapi_node.py} | 0
rosbridge_server/scripts/rosbridge_websocket | 1 -
.../{scripts => src/rosbridge_server}/rosbridge_websocket.py | 0
3 files changed, 1 deletion(-)
rename rosapi/{scripts/rosapi_node => src/rosapi/rosapi_node.py} (100%)
mode change 100755 => 100644
delete mode 120000 rosbridge_server/scripts/rosbridge_websocket
rename rosbridge_server/{scripts => src/rosbridge_server}/rosbridge_websocket.py (100%)
mode change 100755 => 100644
diff --git a/rosapi/scripts/rosapi_node b/rosapi/src/rosapi/rosapi_node.py
old mode 100755
new mode 100644
similarity index 100%
rename from rosapi/scripts/rosapi_node
rename to rosapi/src/rosapi/rosapi_node.py
diff --git a/rosbridge_server/scripts/rosbridge_websocket b/rosbridge_server/scripts/rosbridge_websocket
deleted file mode 120000
index 647069442..000000000
--- a/rosbridge_server/scripts/rosbridge_websocket
+++ /dev/null
@@ -1 +0,0 @@
-rosbridge_websocket.py
\ No newline at end of file
diff --git a/rosbridge_server/scripts/rosbridge_websocket.py b/rosbridge_server/src/rosbridge_server/rosbridge_websocket.py
old mode 100755
new mode 100644
similarity index 100%
rename from rosbridge_server/scripts/rosbridge_websocket.py
rename to rosbridge_server/src/rosbridge_server/rosbridge_websocket.py
From cc005967dbe19fcd843d10714b1b67e4aef4e276 Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 17:59:26 -0400
Subject: [PATCH 31/34] Add resource files.
---
rosapi/resource/rosapi | 0
rosbridge_server/resource/rosbridge_server | 0
2 files changed, 0 insertions(+), 0 deletions(-)
create mode 100644 rosapi/resource/rosapi
create mode 100644 rosbridge_server/resource/rosbridge_server
diff --git a/rosapi/resource/rosapi b/rosapi/resource/rosapi
new file mode 100644
index 000000000..e69de29bb
diff --git a/rosbridge_server/resource/rosbridge_server b/rosbridge_server/resource/rosbridge_server
new file mode 100644
index 000000000..e69de29bb
From 0cc24db6a63873dbd4e432e9d575910a35aa6911 Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 18:11:20 -0400
Subject: [PATCH 32/34] Reorganize package to follow ROS2 python convention
(and resolve issue with find_packages)
---
rosapi/{src => }/rosapi/__init__.py | 0
rosapi/{src => }/rosapi/glob_helper.py | 0
rosapi/{src => }/rosapi/objectutils.py | 0
rosapi/{src => }/rosapi/params.py | 0
rosapi/{src => }/rosapi/proxy.py | 0
rosapi/{src => }/rosapi/rosapi_node.py | 0
rosapi/{src => }/rosapi/stringify_field_types.py | 0
rosbridge_server/{src => }/rosbridge_server/__init__.py | 0
rosbridge_server/{src => }/rosbridge_server/client_manager.py | 0
.../{src => }/rosbridge_server/rosbridge_websocket.py | 0
rosbridge_server/{src => }/rosbridge_server/websocket_handler.py | 0
11 files changed, 0 insertions(+), 0 deletions(-)
rename rosapi/{src => }/rosapi/__init__.py (100%)
rename rosapi/{src => }/rosapi/glob_helper.py (100%)
rename rosapi/{src => }/rosapi/objectutils.py (100%)
rename rosapi/{src => }/rosapi/params.py (100%)
rename rosapi/{src => }/rosapi/proxy.py (100%)
rename rosapi/{src => }/rosapi/rosapi_node.py (100%)
rename rosapi/{src => }/rosapi/stringify_field_types.py (100%)
rename rosbridge_server/{src => }/rosbridge_server/__init__.py (100%)
rename rosbridge_server/{src => }/rosbridge_server/client_manager.py (100%)
rename rosbridge_server/{src => }/rosbridge_server/rosbridge_websocket.py (100%)
rename rosbridge_server/{src => }/rosbridge_server/websocket_handler.py (100%)
mode change 100755 => 100644
diff --git a/rosapi/src/rosapi/__init__.py b/rosapi/rosapi/__init__.py
similarity index 100%
rename from rosapi/src/rosapi/__init__.py
rename to rosapi/rosapi/__init__.py
diff --git a/rosapi/src/rosapi/glob_helper.py b/rosapi/rosapi/glob_helper.py
similarity index 100%
rename from rosapi/src/rosapi/glob_helper.py
rename to rosapi/rosapi/glob_helper.py
diff --git a/rosapi/src/rosapi/objectutils.py b/rosapi/rosapi/objectutils.py
similarity index 100%
rename from rosapi/src/rosapi/objectutils.py
rename to rosapi/rosapi/objectutils.py
diff --git a/rosapi/src/rosapi/params.py b/rosapi/rosapi/params.py
similarity index 100%
rename from rosapi/src/rosapi/params.py
rename to rosapi/rosapi/params.py
diff --git a/rosapi/src/rosapi/proxy.py b/rosapi/rosapi/proxy.py
similarity index 100%
rename from rosapi/src/rosapi/proxy.py
rename to rosapi/rosapi/proxy.py
diff --git a/rosapi/src/rosapi/rosapi_node.py b/rosapi/rosapi/rosapi_node.py
similarity index 100%
rename from rosapi/src/rosapi/rosapi_node.py
rename to rosapi/rosapi/rosapi_node.py
diff --git a/rosapi/src/rosapi/stringify_field_types.py b/rosapi/rosapi/stringify_field_types.py
similarity index 100%
rename from rosapi/src/rosapi/stringify_field_types.py
rename to rosapi/rosapi/stringify_field_types.py
diff --git a/rosbridge_server/src/rosbridge_server/__init__.py b/rosbridge_server/rosbridge_server/__init__.py
similarity index 100%
rename from rosbridge_server/src/rosbridge_server/__init__.py
rename to rosbridge_server/rosbridge_server/__init__.py
diff --git a/rosbridge_server/src/rosbridge_server/client_manager.py b/rosbridge_server/rosbridge_server/client_manager.py
similarity index 100%
rename from rosbridge_server/src/rosbridge_server/client_manager.py
rename to rosbridge_server/rosbridge_server/client_manager.py
diff --git a/rosbridge_server/src/rosbridge_server/rosbridge_websocket.py b/rosbridge_server/rosbridge_server/rosbridge_websocket.py
similarity index 100%
rename from rosbridge_server/src/rosbridge_server/rosbridge_websocket.py
rename to rosbridge_server/rosbridge_server/rosbridge_websocket.py
diff --git a/rosbridge_server/src/rosbridge_server/websocket_handler.py b/rosbridge_server/rosbridge_server/websocket_handler.py
old mode 100755
new mode 100644
similarity index 100%
rename from rosbridge_server/src/rosbridge_server/websocket_handler.py
rename to rosbridge_server/rosbridge_server/websocket_handler.py
From f017bd7e25f1c7ddba358a1dc07bb3b66a81bee2 Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Tue, 16 Jul 2024 18:14:55 -0400
Subject: [PATCH 33/34] Run pre-commit and fix linting errors.
---
rosapi/setup.py | 1 +
rosbridge_server/setup.py | 3 ++-
2 files changed, 3 insertions(+), 1 deletion(-)
diff --git a/rosapi/setup.py b/rosapi/setup.py
index d7b8752a7..d86d5febe 100644
--- a/rosapi/setup.py
+++ b/rosapi/setup.py
@@ -1,4 +1,5 @@
import os
+
from setuptools import find_packages, setup
package_name = "rosapi"
diff --git a/rosbridge_server/setup.py b/rosbridge_server/setup.py
index 70c0516cd..3f98a8e28 100644
--- a/rosbridge_server/setup.py
+++ b/rosbridge_server/setup.py
@@ -1,5 +1,6 @@
-from glob import glob
import os
+from glob import glob
+
from setuptools import find_packages, setup
package_name = "rosbridge_server"
From 8a72cc64128668391f2dabc43b168b87857004ee Mon Sep 17 00:00:00 2001
From: Eric Gallimore <egallimore@whoi.edu>
Date: Thu, 15 Aug 2024 13:11:15 -0400
Subject: [PATCH 34/34] Fixed executable bit on scripts.
---
rosapi/rosapi/rosapi_node.py | 0
rosbridge_server/rosbridge_server/rosbridge_websocket.py | 0
rosbridge_server/rosbridge_server/websocket_handler.py | 0
3 files changed, 0 insertions(+), 0 deletions(-)
mode change 100644 => 100755 rosapi/rosapi/rosapi_node.py
mode change 100644 => 100755 rosbridge_server/rosbridge_server/rosbridge_websocket.py
mode change 100644 => 100755 rosbridge_server/rosbridge_server/websocket_handler.py
diff --git a/rosapi/rosapi/rosapi_node.py b/rosapi/rosapi/rosapi_node.py
old mode 100644
new mode 100755
diff --git a/rosbridge_server/rosbridge_server/rosbridge_websocket.py b/rosbridge_server/rosbridge_server/rosbridge_websocket.py
old mode 100644
new mode 100755
diff --git a/rosbridge_server/rosbridge_server/websocket_handler.py b/rosbridge_server/rosbridge_server/websocket_handler.py
old mode 100644
new mode 100755