Generate the launch file for the bridges separately

ipa320 · May 15, 2024 · 7f82fbf · 7f82fbf
1 parent 92f25d7
commit 7f82fbf
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Showing 4 changed files with 93 additions and 61 deletions.
diff --git a/...stem.xtext/src/de/fraunhofer/ipa/rossystem/generator/BridgesLaunchFileCompiler_ROS2.xtend b/...stem.xtext/src/de/fraunhofer/ipa/rossystem/generator/BridgesLaunchFileCompiler_ROS2.xtend
@@ -0,0 +1,83 @@
+package de.fraunhofer.ipa.rossystem.generator
+
+import system.System
+import com.google.inject.Inject
+
+class BridgesLaunchFileCompiler_ROS2 {
+
+    @Inject extension GeneratorHelpers
+
+
+    def compile_toROS2launchbridges(System system) '''
+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration, PythonExpression, PathJoinSubstitution, TextSubstitution
+
+def generate_launch_description():
+  ld = LaunchDescription()
+
+  # *** ROS 1 to ROS 2 bridges ***
+  «IF TopicBridgeGenerated(system) || ServiceFromBridgeGenerated(system)|| ServiceToBridgeGenerated(system) »
+  «system.name»_ros1_bridge_config = os.path.join(
+    get_package_share_directory('«system.getName().toLowerCase»'),
+    'config',
+    'ros1_bridges.yaml'
+  )«ENDIF»«IF TopicBridgeGenerated(system)»
+  ros1_topic_bridge_parameter_bridge = Node(
+    package='ros1_bridge',
+    executable='parameter_bridge',
+    name='ros1_topic_bridge_parameter_bridge',
+    namespace='bridge_«system.name»_topics',
+    output='screen',
+    parameters=[
+      {'__ns': 'bridge_«system.name»_topics'},
+      {'__name': 'bridge_«system.name»_topics'}
+    ],
+    arguments=[
+      '--ros-args', '-r', '__name:=bridge_«system.name»_topics'
+    ]
+  )«ENDIF»«IF ServiceFromBridgeGenerated(system)»
+  ros1_service_from_bridge_parameter_bridge = Node(
+    package='ros1_bridge',
+    executable='parameter_bridge',
+    name='ros1_service_from_bridge_parameter_bridge',
+    namespace='bridge_«system.name»_from_services',
+    output='screen',
+    parameters=[
+      {'__ns': 'bridge_«system.name»_from_services'},
+      {'__name': 'bridge_«system.name»_from_services'}
+    ],
+    arguments=[
+      '--ros-args', '-r', '__name:=bridge_«system.name»_from_services'
+    ]
+  )«ENDIF»«IF ServiceToBridgeGenerated(system)»
+  ros1_service_to_bridge_parameter_bridge = Node(
+    package='ros1_bridge',
+    executable='parameter_bridge',
+    name='ros1_service_to_bridge_parameter_bridge',
+    namespace='bridge_«system.name»_to_services',
+    output='screen',
+    parameters=[
+      {'__ns': 'bridge_«system.name»_to_services'},
+      {'__name': 'bridge_«system.name»_to_services'}
+    ],
+    arguments=[
+      '--ros-args', '-r', '__name:=bridge_«system.name»_to_services'
+    ]
+  )«ENDIF»
+
+  # *** Add actions ***
+  «IF TopicBridgeGenerated(system)»
+  ld.add_action(ros1_topic_bridge_parameter_bridge)
+  «ENDIF»«IF ServiceFromBridgeGenerated(system)»
+  ld.add_action(ros1_service_from_bridge_parameter_bridge)
+  «ENDIF»«IF ServiceToBridgeGenerated(system)»
+  ld.add_action(ros1_service_to_bridge_parameter_bridge)
+  «ENDIF»
+
+  return ld
+    '''
+}
diff --git a/...ofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/GeneratorHelpers.xtend b/...ofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/GeneratorHelpers.xtend
@@ -69,9 +69,9 @@ class GeneratorHelpers {
                 os_import=true
             }
         }
-        if (TopicBridgeGenerated(rossystem) || ServiceFromBridgeGenerated(rossystem) || ServiceToBridgeGenerated(rossystem)){
-            os_import=true
-        }
+//        if (TopicBridgeGenerated(rossystem) || ServiceFromBridgeGenerated(rossystem) || ServiceToBridgeGenerated(rossystem)){
+//            os_import=true
+//        }
         return os_import
     }
 

diff --git a/...a.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/LaunchFileCompiler_ROS2.xtend b/...a.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/LaunchFileCompiler_ROS2.xtend
@@ -83,70 +83,14 @@ def generate_launch_description():
   include_«subsystem.name»= IncludeLaunchDescription(
     PythonLaunchDescriptionSource([get_package_share_directory('«subsystem.fromFile.split("/",2).get(0)»') + '/«subsystem.fromFile.split("/",2).get(1)»'])
   )
-  «ENDIF»
-
-  # *** ROS 1 to ROS 2 bridges ***
-  «ENDFOR»«IF TopicBridgeGenerated(system) || ServiceFromBridgeGenerated(system)|| ServiceToBridgeGenerated(system) »
-  «system.name»_ros1_bridge_config = os.path.join(
-    get_package_share_directory('«system.getName().toLowerCase»'),
-    'config',
-    'ros1_bridges.yaml'
-  )«ENDIF»«IF TopicBridgeGenerated(system)»
-  ros1_topic_bridge_parameter_bridge = Node(
-    package='ros1_bridge',
-    executable='parameter_bridge',
-    name='ros1_topic_bridge_parameter_bridge',
-    namespace='bridge_«system.name»_topics',
-    output='screen',
-    parameters=[
-      {'__ns': 'bridge_«system.name»_topics'},
-      {'__name': 'bridge_«system.name»_topics'}
-    ],
-    arguments=[
-      '--ros-args', '-r', '__name:=bridge_«system.name»_topics'
-    ]
-  )«ENDIF»«IF ServiceFromBridgeGenerated(system)»
-  ros1_service_from_bridge_parameter_bridge = Node(
-    package='ros1_bridge',
-    executable='parameter_bridge',
-    name='ros1_service_from_bridge_parameter_bridge',
-    namespace='bridge_«system.name»_from_services',
-    output='screen',
-    parameters=[
-      {'__ns': 'bridge_«system.name»_from_services'},
-      {'__name': 'bridge_«system.name»_from_services'}
-    ],
-    arguments=[
-      '--ros-args', '-r', '__name:=bridge_«system.name»_from_services'
-    ]
-  )«ENDIF»«IF ServiceToBridgeGenerated(system)»
-  ros1_service_to_bridge_parameter_bridge = Node(
-    package='ros1_bridge',
-    executable='parameter_bridge',
-    name='ros1_service_to_bridge_parameter_bridge',
-    namespace='bridge_«system.name»_to_services',
-    output='screen',
-    parameters=[
-      {'__ns': 'bridge_«system.name»_to_services'},
-      {'__name': 'bridge_«system.name»_to_services'}
-    ],
-    arguments=[
-      '--ros-args', '-r', '__name:=bridge_«system.name»_to_services'
-    ]
-  )«ENDIF»
+  «ENDIF»«ENDFOR»
 
   # *** Add actions ***
   «FOR component:getRos2Nodes(system)»
   ld.add_action(«(component as RosNode).name»)
   «ENDFOR»«FOR subsystem:getSubsystems(system)»
   ld.add_action(include_«subsystem.name»)
-  «ENDFOR»«IF TopicBridgeGenerated(system)»
-  ld.add_action(ros1_topic_bridge_parameter_bridge)
-  «ENDIF»«IF ServiceFromBridgeGenerated(system)»
-  ld.add_action(ros1_service_from_bridge_parameter_bridge)
-  «ENDIF»«IF ServiceToBridgeGenerated(system)»
-  ld.add_action(ros1_service_to_bridge_parameter_bridge)
-  «ENDIF»
+  «ENDFOR»
 
   return ld
     '''

diff --git a/...er.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/RosSystemGenerator.xtend b/...er.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/RosSystemGenerator.xtend
@@ -26,6 +26,7 @@ class RosSystemGenerator extends AbstractGenerator {
     @Inject extension PlantUMLCompiler
     @Inject extension GeneratorHelpers
     @Inject extension Ros1BridgesYamlFileCompiler
+    @Inject extension BridgesLaunchFileCompiler_ROS2
 
     override void doGenerate(Resource resource, IFileSystemAccess2 fsa, IGeneratorContext context) {
         var yaml_gen = false
@@ -79,6 +80,10 @@ class RosSystemGenerator extends AbstractGenerator {
                     system.getName().toLowerCase+"/config/"+"ros1_bridges.yaml",
                     compile_ROS1bridges_config(system)
                 )
+                fsa.generateFile(
+                    system.getName().toLowerCase+"/launch/"+system.getName()+"_bridges.launch.py",
+                    compile_toROS2launchbridges(system).toString().replace("\t","  ")
+                )
             }
         }
     }