Merge pull request #13 from clearpathrobotics/0.2.0-RC

0.2.0 rc

clearpath_config_live/clearpath_config_live/clearpath_config_live

@@ -14,9 +14,11 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import getopt
 import rclpy
 import rclpy.logging
 import rclpy.node
+import sys
 
 from clearpath_config_live.clearpath_config_handler import (
     ClearpathConfigHandler
@@ -33,20 +35,20 @@ def main():
     # Node
     rclpy.init()
     node = rclpy.create_node("clearpath_config_live")
-    node.declare_parameter("config_file", "/etc/clearpath/robot.yaml")
+    node.declare_parameter("setup_path", "/etc/clearpath")
     logger = rclpy.logging.get_logger("clearpath_config_live")
 
     # Get File
-    config_param = node.get_parameter("config_file")
-    config_file = config_param.get_parameter_value().string_value
+    setup_path_param = node.get_parameter("setup_path")
+    setup_path = setup_path_param.get_parameter_value().string_value
 
     # Watcher, Handler, and Client
     client = RobotDescriptionClient(
         node,
         "robot_state_publisher",
         "robot_description"
     )
-    watcher = ClearpathConfigWatcher(config_file, logger)
+    watcher = ClearpathConfigWatcher(setup_path, logger)
     handler = ClearpathConfigHandler(watcher, client, logger)
 
     # Start Handler

clearpath_config_live/clearpath_config_live/clearpath_config_updater.py

@@ -23,12 +23,11 @@ class ClearpathConfigUpdater:
 
     def __init__(
             self,
-            config_file: str,
-            output_path: str = "/etc/clearpath",
+            setup_path: str = '/etc/clearpath',
             ) -> None:
-        self.config_file = os.path.realpath(config_file)
-        self.output_path = os.path.realpath(output_path)
-        self.dirs = {os.path.dirname(self.config_file)}
+        self.setup_path = os.path.realpath(setup_path)
+        self.config_file = os.path.join(self.setup_path, 'robot.yaml')
+        self.dirs = {self.setup_path}
         self.doc = None
 
     def get_robot_description(self):
@@ -43,11 +42,11 @@ def update(self) -> None:
         """Re-load File and Create Description."""
         # Generate URDF
         dg = DescriptionGenerator(
-            setup_path=self.output_path
+            setup_path=self.setup_path
         )
         dg.generate()
 
         # Re-load Description
         self.doc = xacro.process_file(
-            os.path.join(self.output_path, "robot.urdf.xacro")
+            os.path.join(self.setup_path, "robot.urdf.xacro")
         )

clearpath_config_live/clearpath_config_live/clearpath_config_watcher.py

@@ -22,9 +22,9 @@
 
 class ClearpathConfigWatcher:
 
-    def __init__(self, config_file: str, logger) -> None:
+    def __init__(self, setup_path: str, logger) -> None:
         self.observer = Observer()
-        self.updater = ClearpathConfigUpdater(config_file)
+        self.updater = ClearpathConfigUpdater(setup_path)
         self.logger = logger
 
     @property

clearpath_viz/launch/view_diagnostics.launch.py

@@ -0,0 +1,71 @@
+#!/usr/bin/env python3
+
+# Software License Agreement (BSD)
+#
+# @author    Roni Kreinin <[email protected]>
+# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, is not permitted without the express permission
+# of Clearpath Robotics.
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, GroupAction
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+
+from launch_ros.actions import Node, PushRosNamespace
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    # Launch Configurations
+    namespace = LaunchConfiguration('namespace')
+
+    # Launch Arguments
+    arg_namespace = DeclareLaunchArgument(
+        'namespace',
+        default_value='',
+        description='Robot namespace'
+    )
+
+    group_view_model = GroupAction([
+        PushRosNamespace(namespace),
+        Node(package='rqt_robot_monitor',
+             executable='rqt_robot_monitor',
+             remappings=[
+                ('/diagnostics', 'diagnostics'),
+                ('/diagnostics_agg', 'diagnostics_agg')
+             ],
+             output='screen')
+    ])
+
+    ld = LaunchDescription()
+    # Args
+    ld.add_action(arg_namespace)
+
+    # Nodes
+    ld.add_action(group_view_model)
+    return ld

clearpath_viz/launch/view_model.launch.py

@@ -1,3 +1,37 @@
+#!/usr/bin/env python3
+
+# Software License Agreement (BSD)
+#
+# @author    Roni Kreinin <[email protected]>
+# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, is not permitted without the express permission
+# of Clearpath Robotics.
+
 from launch import LaunchDescription
 from launch.actions import (
     DeclareLaunchArgument,
@@ -13,16 +47,12 @@
 
 
 def generate_launch_description():
-    # Launch Configurations
-    platform_model = LaunchConfiguration('platform_model')
-    namespace = LaunchConfiguration('namespace')
-
     # Launch Arguments
-    arg_platform_model = DeclareLaunchArgument(
-        'platform_model',
-        choices=['a200', 'j100'],
-        default_value='a200'
+    arg_setup_path = DeclareLaunchArgument(
+        'setup_path',
+        default_value='/etc/clearpath/'
     )
+
     arg_namespace = DeclareLaunchArgument(
         'namespace',
         default_value='',
@@ -40,51 +70,61 @@ def generate_launch_description():
         default_value='model.rviz',
     )
 
+    # Launch Configurations
+    rviz_config = LaunchConfiguration('config')
+    namespace = LaunchConfiguration('namespace')
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    setup_path = LaunchConfiguration('setup_path')
+
+    # Get Package Paths
     pkg_clearpath_platform_description = FindPackageShare('clearpath_platform_description')
     pkg_clearpath_viz = FindPackageShare('clearpath_viz')
 
     config_rviz = PathJoinSubstitution(
-        [pkg_clearpath_viz, 'rviz', LaunchConfiguration('config')]
+        [pkg_clearpath_viz, 'rviz', rviz_config]
     )
 
-
     group_view_model = GroupAction([
         PushRosNamespace(namespace),
         Node(package='rviz2',
-            executable='rviz2',
-            name='rviz2',
-            arguments=['-d', config_rviz],
-            parameters=[{'use_sim_time': LaunchConfiguration('use_sim_time')}],
-            remappings=[
+             executable='rviz2',
+             name='rviz2',
+             arguments=['-d', config_rviz],
+             parameters=[{'use_sim_time': LaunchConfiguration('use_sim_time')}],
+             remappings=[
                ('/tf', 'tf'),
                ('/tf_static', 'tf_static')
-            ],
-            output='screen'),
+             ],
+             output='screen'),
         Node(
             package='joint_state_publisher_gui',
             executable='joint_state_publisher_gui',
             remappings=[
                 ("joint_states", "platform/joint_states")
             ]
         ),
-
+        # Load Robot Description
         IncludeLaunchDescription(
             PathJoinSubstitution([
                 pkg_clearpath_platform_description,
                 'launch',
                 'description.launch.py'])
         ),
+        # Live Updater
         Node(
             package='clearpath_config_live',
             executable='clearpath_config_live',
+            parameters=[{'setup_path': setup_path}]
         ),
     ])
 
+    # Generate Initial Description
     node_generate_description = Node(
         package='clearpath_generator_common',
         executable='generate_description',
         name='generate_description',
         output='screen',
+        arguments=['-s', setup_path],
     )
 
     event_generate_description = RegisterEventHandler(
@@ -96,7 +136,7 @@ def generate_launch_description():
 
     ld = LaunchDescription()
     # Args
-    ld.add_action(arg_platform_model)
+    ld.add_action(arg_setup_path)
     ld.add_action(arg_namespace)
     ld.add_action(arg_rviz_config)
     ld.add_action(arg_use_sim_time)

clearpath_viz/launch/view_navigation.launch.py

@@ -1,3 +1,37 @@
+#!/usr/bin/env python3
+
+# Software License Agreement (BSD)
+#
+# @author    Roni Kreinin <[email protected]>
+# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, is not permitted without the express permission
+# of Clearpath Robotics.
+
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, GroupAction
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution

clearpath_viz/launch/view_robot.launch.py

@@ -1,3 +1,37 @@
+#!/usr/bin/env python3
+
+# Software License Agreement (BSD)
+#
+# @author    Roni Kreinin <[email protected]>
+# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, is not permitted without the express permission
+# of Clearpath Robotics.
+
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, GroupAction
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
@@ -37,15 +71,15 @@ def generate_launch_description():
     group_view_model = GroupAction([
         PushRosNamespace(namespace),
         Node(package='rviz2',
-            executable='rviz2',
-            name='rviz2',
-            arguments=['-d', config_rviz],
-            parameters=[{'use_sim_time': LaunchConfiguration('use_sim_time')}],
-            remappings=[
-               ('/tf', 'tf'),
-               ('/tf_static', 'tf_static')
-            ],
-            output='screen')
+             executable='rviz2',
+             name='rviz2',
+             arguments=['-d', config_rviz],
+             parameters=[{'use_sim_time': LaunchConfiguration('use_sim_time')}],
+             remappings=[
+                ('/tf', 'tf'),
+                ('/tf_static', 'tf_static')
+             ],
+             output='screen')
     ])