Fix code generator for bridges launch

ipa320 · May 15, 2024 · 89480a8 · 89480a8
1 parent 7f82fbf
commit 89480a8
Showing 1 changed file with 53 additions and 51 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
@@ -12,7 +12,7 @@ class BridgesLaunchFileCompiler_ROS2 {
 import os
 from launch import LaunchDescription
 from launch_ros.actions import Node
-from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, ExecuteProcess
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, PythonExpression, PathJoinSubstitution, TextSubstitution
 
@@ -25,59 +25,61 @@ def generate_launch_description():
     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»
+  )
+
+  load_bridge_params = ExecuteProcess(
+      cmd=['rosparam', load, «system.name»_ros1_bridge_config]
+  )
+  «ENDIF»
 
-  # *** Add actions ***
   «IF TopicBridgeGenerated(system)»
-  ld.add_action(ros1_topic_bridge_parameter_bridge)
+  ros1_topic_bridge_parameter_bridge = ExecuteProcess(
+      cmd=['ros2', 'run', 'ros1_bridge', 'parameter_bridge', '__ns:=bridge_«system.name»_topics', '__name:=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»
+  ros1_service_from_bridge_parameter_bridge = ExecuteProcess(
+      cmd=['ros2', 'run', 'ros1_bridge', 'parameter_bridge', '__ns:=bridge_«system.name»_from_services', '__name:=ros1_service_from_bridge_parameter_bridge']
+«ENDIF»«IF ServiceToBridgeGenerated(system)»
+  ros1_service_to_bridge_parameter_bridge = ExecuteProcess(
+      cmd=['ros2', 'run', 'ros1_bridge', 'parameter_bridge', '__ns:=bridge_«system.name»_to_services', '__name:=ros1_service_to_bridge_parameter_bridge']
+«ENDIF»
+
 
-  return ld
+  return LaunchDescription([
+    «IF TopicBridgeGenerated(system)»
+    RegisterEventHandler(
+      event_handler=OnExecutionComplete(
+        target_action=load_bridge_params,
+        on_completion=[
+          LogInfo(msg='Load bridge parameter finished'),
+          LogInfo(msg='launching bridge for topics'),
+          ros1_topic_bridge_parameter_bridge,
+          LogInfo(msg='Start loading bridge parameters'),
+          load_bridge_params]
+      )
+    ),«ENDIF»«IF ServiceFromBridgeGenerated(system)»
+    RegisterEventHandler(
+      event_handler=OnExecutionComplete(
+        target_action=load_bridge_params,
+        on_completion=[
+          LogInfo(msg='Load bridge parameter finished'),
+          LogInfo(msg='Launching bridge for FROM services'),
+          ros1_service_from_bridge_parameter_bridge,
+          LogInfo(msg='Start loading bridge parameters'),
+          load_bridge_params]
+      )
+    ),«ENDIF»«IF ServiceFromBridgeGenerated(system)»
+    RegisterEventHandler(
+      event_handler=OnExecutionComplete(
+        target_action=load_bridge_params,
+        on_completion=[
+          LogInfo(msg='Load bridge parameter finished'),
+          LogInfo(msg='Launching bridge for TO services'),
+          ros1_service_to_bridge_parameter_bridge,
+          LogInfo(msg='Start loading bridge parameters'),
+          load_bridge_params]
+      )
+    ),«ENDIF»
+    load_bridge_params
+  ])
     '''
 }