Closes ros-controls#796 - Adds list_hardware_components to CLI (ros-c…

…ontrols#891)

controller_manager/controller_manager/__init__.py

@@ -16,6 +16,7 @@
     configure_controller,
     list_controller_types,
     list_controllers,
+    list_hardware_components,
     list_hardware_interfaces,
     load_controller,
     reload_controller_libraries,
@@ -27,6 +28,7 @@
     'configure_controller',
     'list_controller_types',
     'list_controllers',
+    'list_hardware_components',
     'list_hardware_interfaces',
     'load_controller',
     'reload_controller_libraries',

controller_manager/controller_manager/controller_manager_services.py

@@ -13,7 +13,7 @@
 # limitations under the License.
 
 from controller_manager_msgs.srv import ConfigureController, \
-    ListControllers, ListControllerTypes, ListHardwareInterfaces, \
+    ListControllers, ListControllerTypes, ListHardwareComponents, ListHardwareInterfaces, \
     LoadController, ReloadControllerLibraries, SwitchController, UnloadController
 
 import rclpy
@@ -57,6 +57,12 @@ def list_controller_types(node, controller_manager_name):
                           ListControllerTypes, request)
 
 
+def list_hardware_components(node, controller_manager_name):
+    request = ListHardwareComponents.Request()
+    return service_caller(node, f'{controller_manager_name}/list_hardware_components',
+                          ListHardwareComponents, request)
+
+
 def list_hardware_interfaces(node, controller_manager_name):
     request = ListHardwareInterfaces.Request()
     return service_caller(node, f'{controller_manager_name}/list_hardware_interfaces',

controller_manager/controller_manager/spawner.py

@@ -87,6 +87,7 @@ def wait_for_controller_manager(node, controller_manager, timeout_duration):
         f'{controller_manager}/configure_controller',
         f'{controller_manager}/list_controllers',
         f'{controller_manager}/list_controller_types',
+        f'{controller_manager}/list_hardware_components',
         f'{controller_manager}/list_hardware_interfaces',
         f'{controller_manager}/load_controller',
         f'{controller_manager}/reload_controller_libraries',

ros2controlcli/doc/userdoc.rst

@@ -9,6 +9,7 @@ Currently supported commands are
 
     - ros2 control list_controllers
     - ros2 control list_controller_types
+    - ros2 control list_hardware_components
     - ros2 control list_hardware_interfaces
     - ros2 control load_controller
     - ros2 control reload_controller_libraries
@@ -74,6 +75,40 @@ Example output:
     joint_trajectory_controller/JointTrajectoryController                  controller_interface::ControllerInterface
 
 
+list_hardware_components
+------------------------
+
+.. code-block:: console
+
+    $ ros2 control list_hardware_components -h
+    usage: ros2 control list_hardware_components [-h] [--spin-time SPIN_TIME] [-s] [-c CONTROLLER_MANAGER] [--include-hidden-nodes]
+
+    Output the list of available hardware components
+
+    options:
+    -h, --help            show this help message and exit
+    --spin-time SPIN_TIME
+                            Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
+    -s, --use-sim-time    Enable ROS simulation time
+    --verbose, -v         List hardware components with command and state interfaces
+    -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
+                            Name of the controller manager ROS node
+    --include-hidden-nodes
+                            Consider hidden nodes as well
+
+
+Example output:
+
+.. code-block:: console
+
+    $ ros2 control list_hardware_components
+    Hardware Component 0
+        name: RRBot
+        type: system
+        plugin name: ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware
+        state: id=3 label=active
+
+
 list_hardware_interfaces
 ------------------------
 

ros2controlcli/ros2controlcli/verb/list_hardware_components.py

@@ -0,0 +1,78 @@
+# Copyright 2023 ROS2-Control Development Team
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from controller_manager import list_hardware_components
+from controller_manager.spawner import bcolors
+
+from ros2cli.node.direct import add_arguments
+from ros2cli.node.strategy import NodeStrategy
+from ros2cli.verb import VerbExtension
+from ros2controlcli.api import add_controller_mgr_parsers
+
+
+class ListHardwareComponentsVerb(VerbExtension):
+    """Output the list of available hardware components."""
+
+    def add_arguments(self, parser, cli_name):
+        add_arguments(parser)
+        parser.add_argument(
+            '--verbose', '-v',
+            action='store_true',
+            help='List hardware components with command and state interfaces',
+        )
+        add_controller_mgr_parsers(parser)
+
+    def main(self, *, args):
+        with NodeStrategy(args) as node:
+            hardware_components = list_hardware_components(node, args.controller_manager)
+
+            for idx, component in enumerate(hardware_components.component):
+                print(f'Hardware Component {idx}\n\tname: {component.name}\n\ttype: {component.type}')
+                if hasattr(component, 'plugin_name'):
+                    plugin_name = component.plugin_name
+                else:
+                    plugin_name = f'{bcolors.WARNING}plugin name missing!{bcolors.ENDC}'
+
+                print(f'\tplugin name: {plugin_name}\n\tstate: id={component.state.id} label={component.state.label}\n\tcommand interfaces')
+                for cmd_interface in component.command_interfaces:
+
+                    if cmd_interface.is_available:
+                        available_str = f'{bcolors.OKBLUE}[available]{bcolors.ENDC}'
+                    else:
+                        available_str = f'{bcolors.WARNING}[unavailable]{bcolors.ENDC}'
+
+                    if cmd_interface.is_claimed:
+                        claimed_str = f'{bcolors.OKBLUE}[claimed]{bcolors.ENDC}'
+                    else:
+                        claimed_str = '[unclaimed]'
+
+                    print(f'\t\t{cmd_interface.name} {available_str} {claimed_str}')
+
+                if args.verbose:
+                    print('\tstate interfaces')
+                    for state_interface in component.command_interfaces:
+
+                        if state_interface.is_available:
+                            available_str = f'{bcolors.OKBLUE}[available]{bcolors.ENDC}'
+                        else:
+                            available_str = f'{bcolors.WARNING}[unavailable]{bcolors.ENDC}'
+
+                        if state_interface.is_claimed:
+                            claimed_str = f'{bcolors.OKBLUE}[claimed]{bcolors.ENDC}'
+                        else:
+                            claimed_str = '[unclaimed]'
+
+                        print(f'\t\t{state_interface.name} {available_str} {claimed_str}')
+
+        return 0

ros2controlcli/setup.py

@@ -1,3 +1,17 @@
+# Copyright 2023 ros2_control Development Team
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 from setuptools import find_packages
 from setuptools import setup
 
@@ -37,6 +51,8 @@
         'ros2controlcli.verb': [
             'list_controllers = ros2controlcli.verb.list_controllers:ListControllersVerb',
             'view_controller_chains = ros2controlcli.verb.view_controller_chains:ViewControllerChainsVerb',
+            'list_hardware_components = \
+                ros2controlcli.verb.list_hardware_components:ListHardwareComponentsVerb',
             'list_hardware_interfaces = \
                 ros2controlcli.verb.list_hardware_interfaces:ListHardwareInterfacesVerb',
             'list_controller_types = \