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adapted the environment for EnvInterfaceBase

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This commit is contained in:
Ilya Uraev 2023-10-17 15:41:04 +03:00
parent 71063b19aa
commit 18d2772cef
17 changed files with 447 additions and 74 deletions
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56
env_manager/env_interface/CMakeLists.txt Normal file
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@ -0,0 +1,56 @@
cmake_minimum_required(VERSION 3.8)
project(env_interface)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
set(INCLUDE_DEPENDS
rclcpp_lifecycle
)
# find dependencies
find_package(ament_cmake REQUIRED)
foreach(Dependency IN LISTS INCLUDE_DEPENDS)
find_package(${Dependency} REQUIRED)
endforeach()
add_library(${PROJECT_NAME} SHARED
src/env_interface_base.cpp)
target_include_directories(${PROJECT_NAME} PUBLIC
$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/env_interface>
)
ament_target_dependencies(${PROJECT_NAME} PUBLIC ${INCLUDE_DEPENDS})
target_compile_definitions(${PROJECT_NAME} PRIVATE "ENVIROMENT_INTERFACE_BUILDING_DLL")
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
install(
DIRECTORY include/
DESTINATION include/env_interface
)
install(TARGETS ${PROJECT_NAME}
EXPORT export_${PROJECT_NAME}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
ament_export_dependencies(${INCLUDE_DEPENDS})
ament_package()

202
env_manager/env_interface/LICENSE Normal file
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@ -0,0 +1,202 @@
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14
env_manager/env_interface/include/env_interface/env_interface.hpp Normal file
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@ -0,0 +1,14 @@
#include "env_interface/env_interface_base.hpp"
namespace env_interface
{
class EnvInterface : public EnvInterfaceBase
{
public:
EnvInterface() = default;
virtual ~EnvInterface() = default;
};
} // namespace env_interface

3
env_manager/env_manager/include/env_manager/env_base_interface.hpp → env_manager/env_interface/include/env_interface/env_interface_base.hpp
View file

@ -1,9 +1,6 @@
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
// TODO: BaseInterface class for next enviroments based on LifecycleNodeInterface
// It's should be like ControllerInterfaceBase class from ros2_control
namespace env_interface
{

18
env_manager/env_interface/package.xml Normal file
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@ -0,0 +1,18 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>env_interface</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="ur.narmak@gmail.com">bill-finger</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

2
env_manager/env_manager/src/env_base_interface.cpp → env_manager/env_interface/src/env_interface_base.cpp
View file

@ -1,4 +1,4 @@
#include "env_manager/env_base_interface.hpp"
#include "env_interface/env_interface_base.hpp"
namespace env_interface
{

1
env_manager/env_manager/CMakeLists.txt
View file

@ -10,6 +10,7 @@ set(INCLUDE_DEPENDS
rclcpp_lifecycle
env_manager_interfaces
pluginlib
env_interface
)
# find dependencies

9
env_manager/env_manager/config/test_params.yaml Normal file
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@ -0,0 +1,9 @@
env_manager:
ros__parameters:
gz_enviroment:
type: gz_enviroment/GzEnviroment
gz_enviroment:
ros__parameters:
mesh_name: "monkey"

9
env_manager/env_manager/include/env_manager/env_manager.hpp
View file

@ -7,12 +7,15 @@
#include "env_manager_interfaces/srv/configure_env.hpp"
#include "env_manager_interfaces/srv/unload_env.hpp"
#include "env_interface/env_interface.hpp"
#include "pluginlib/class_loader.hpp"
namespace env_manager
{
using EnvInterfaceSharedPtr = std::shared_ptr<rclcpp_lifecycle::LifecycleNode>;
using EnvInterface = env_interface::EnvInterface;
using EnvInterfaceSharedPtr = std::shared_ptr<env_interface::EnvInterface>;
using EnvStateReturnType = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
struct EnvSpec
@ -43,7 +46,7 @@ public:
// EnvInterfaceSharedPtr loadEnv(const std::string& env_name);
EnvInterfaceSharedPtr loadEnv(const std::string& env_name, const std::string& env_class_type);
EnvInterfaceSharedPtr unloadEnv();
EnvStateReturnType unloadEnv(const std::string &env_name);
EnvStateReturnType configureEnv(const std::string& env_name);
EnvInterfaceSharedPtr addEnv(const EnvSpec& enviment);
@ -87,7 +90,7 @@ private:
rclcpp::CallbackGroup::SharedPtr m_callback_group;
rclcpp::Executor::SharedPtr m_executor;
std::shared_ptr<pluginlib::ClassLoader<rclcpp_lifecycle::LifecycleNode>> m_loader;
std::shared_ptr<pluginlib::ClassLoader<env_interface::EnvInterface>> m_loader;

1
env_manager/env_manager/package.xml
View file

@ -12,6 +12,7 @@
<depend>env_manager_interfaces</depend>
<depend>rclcpp</depend>
<depend>rclcpp_lifecycle</depend>
<depend>env_inteface</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>

55
env_manager/env_manager/src/env_manager.cpp
View file

@ -1,8 +1,8 @@
#include "env_manager/env_manager.hpp"
#include "nlohmann/json.hpp"
static constexpr const char * ENV_INTERFACE_BASE_CLASS_NAMESPACE = "rclcpp_lifecycle";
static constexpr const char * ENV_INTERFACE_BASE_CLASS_NAME = "rclcpp_lifecycle::LifecycleNode";
static constexpr const char * ENV_INTERFACE_BASE_CLASS_NAMESPACE = "env_interface";
static constexpr const char * ENV_INTERFACE_BASE_CLASS_NAME = "env_interface::EnvInterface";
namespace env_manager
{
@ -13,7 +13,7 @@ EnvManager::EnvManager(
rclcpp::NodeOptions & options)
: rclcpp::Node(node_name, node_namespace, options),
m_executor(executor),
m_loader(std::make_shared<pluginlib::ClassLoader<rclcpp_lifecycle::LifecycleNode>>(
m_loader(std::make_shared<pluginlib::ClassLoader<env_interface::EnvInterface>>(
ENV_INTERFACE_BASE_CLASS_NAMESPACE, ENV_INTERFACE_BASE_CLASS_NAME))
{
initServices();
@ -77,21 +77,7 @@ EnvManager::unloadEnv_cb(
env_manager_interfaces::srv::UnloadEnv::Response::SharedPtr response)
{
std::lock_guard<std::mutex> lock(m_env_mutex);
auto it = std::find_if(m_active_envs.begin(), m_active_envs.end(), [&request](const EnvSpec& env) {
return env.name == request->name;
});
if (it != m_active_envs.end()) {
m_executor->remove_node(it->env_ptr->get_node_base_interface());
m_active_envs.erase(it);
response->ok = true;
} else {
RCLCPP_ERROR(this->get_logger(),
"Environment '%s' not found in the active environments list.",
request->name.c_str());
response->ok = false;
}
response->ok = unloadEnv(request->name) == EnvStateReturnType::SUCCESS;
}
@ -102,8 +88,16 @@ EnvManager::addEnv(const EnvSpec& enviroment)
// generate list of active enviroments
// std::string unique_env_name = enviroment.name;// + "_" + std::to_string(m_active_envs.size());
// m_active_envs[unique_env_name] = enviroment.env_ptr;
if (enviroment.env_ptr->init(
enviroment.name, get_namespace()) ==
rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR)
{
RCLCPP_ERROR(get_logger(), "Enviroment with name %s cannot been initialized", enviroment.name.c_str());
return nullptr;
}
m_active_envs.push_back(enviroment);
m_executor->add_node(enviroment.env_ptr->get_node_base_interface());
m_executor->add_node(enviroment.env_ptr->getNode()->get_node_base_interface());
return enviroment.env_ptr;
}
@ -145,6 +139,26 @@ EnvManager::loadEnv(const std::string& env_name, const std::string& env_class_ty
return addEnv(enviroment);
}
EnvStateReturnType
EnvManager::unloadEnv(const std::string& env_name)
{
auto it = std::find_if(m_active_envs.begin(), m_active_envs.end(), [&env_name](const EnvSpec& env) {
return env.name == env_name;
});
if (it != m_active_envs.end()) {
m_executor->remove_node(it->env_ptr->getNode()->get_node_base_interface());
m_active_envs.erase(it);
return EnvStateReturnType::SUCCESS;
} else {
RCLCPP_ERROR(this->get_logger(),
"Environment '%s' not found in the active environments list.",
env_name.c_str());
return EnvStateReturnType::ERROR;
}
return EnvStateReturnType::FAILURE;
}
// EnvInterfaceSharedPtr
// EnvManager::loadEnv(const std::string env_name)
// {
@ -169,7 +183,10 @@ EnvManager::configureEnv(const std::string& env_name)
return EnvStateReturnType::FAILURE;
}
it->env_ptr->configure();
// it->env_ptr->getNode()->configure();
// it->env_ptr->activate();
it->env_ptr->getNode()->activate();
return EnvStateReturnType::SUCCESS;
}

3
env_manager/gz_enviroment/CMakeLists.txt
View file

@ -15,6 +15,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
ignition-transport11
ignition-msgs8
ros_gz_bridge
env_interface
)
# find dependencies
@ -38,7 +39,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
ament_target_dependencies(${PROJECT_NAME} PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
target_compile_definitions(${PROJECT_NAME} PRIVATE "GZENVIROMENT_BUILDING_DLL")
#TODO: replace rclcpp_lifecycle with custom interface class
pluginlib_export_plugin_description_file(rclcpp_lifecycle gz_enviroment.xml)
pluginlib_export_plugin_description_file(env_interface gz_enviroment.xml)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)

4
env_manager/gz_enviroment/gz_enviroment.xml
View file

@ -1,7 +1,7 @@
<library path="gz_enviroment">
<class
<class
type="gz_enviroment::GzEnviroment"
base_class_type="rclcpp_lifecycle::LifecycleNode">
base_class_type="env_interface::EnvInterface">
<description>Gazebo enviroment for env_manager</description>
</class>
</library>

15
env_manager/gz_enviroment/include/gz_enviroment/gz_enviroment.hpp
View file

@ -6,16 +6,18 @@
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <gz/transport/Node.hh>
#include "gz/msgs/pose_v.pb.h"
#include "env_interface/env_interface.hpp"
namespace gz_enviroment
{
using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
class GzEnviroment : public rclcpp_lifecycle::LifecycleNode
class GzEnviroment : public env_interface::EnvInterface
{
public:
GzEnviroment();
CallbackReturn on_init() override;
CallbackReturn on_configure(const rclcpp_lifecycle::State&) override;
CallbackReturn on_activate(const rclcpp_lifecycle::State&) override;
CallbackReturn on_deactivate(const rclcpp_lifecycle::State&) override;
@ -24,17 +26,20 @@ public:
protected:
void onGzPoseSub(const gz::msgs::Pose_V& pose_v);
bool doGzSpawn();
private:
std::unique_ptr<tf2_ros::TransformBroadcaster> m_tf2_broadcaster;
std::shared_ptr<gz::transport::Node> m_gz_node;
std::vector<std::string> m_follow_frames;
void onGzPoseSub(const gz::msgs::Pose_V& pose_v);
void doGzSpawn();
std::string m_topic_name;
std::string m_service_spawn;
std::string getGzWorldName();
std::string createGzModelString(const std::vector<double>& pose, const std::string& mesh_filepath, const std::string& name);
};
}

1
env_manager/gz_enviroment/package.xml
View file

@ -14,6 +14,7 @@
<depend>tf2_ros</depend>
<depend>tf2_msgs</depend>
<depend>ros_gz</depend>
<depend>env_interface</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>

126
env_manager/gz_enviroment/src/gz_enviroment.cpp
View file

@ -1,25 +1,46 @@
#include "gz_enviroment/gz_enviroment.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "ros_gz_bridge/convert.hpp"
namespace gz_enviroment
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
namespace gz_enviroment {
GzEnviroment::GzEnviroment() : env_interface::EnvInterface() {}
CallbackReturn GzEnviroment::on_init()
{
GzEnviroment::GzEnviroment()
: rclcpp_lifecycle::LifecycleNode("gz_enviroment") {}
CallbackReturn
GzEnviroment::on_configure(const rclcpp_lifecycle::State& )
{
RCLCPP_INFO(this->get_logger(), "GzEnviroment is on_configure");
RCLCPP_INFO(getNode()->get_logger(), "GzEnviroment in on_init()");
return CallbackReturn::SUCCESS;
}
CallbackReturn GzEnviroment::on_configure(const rclcpp_lifecycle::State& ) {
// Configuration of parameters
RCLCPP_INFO(getNode()->get_logger(), "GzEnviroment is on_configure");
m_gz_node = std::make_shared<gz::transport::Node>();
m_topic_name = std::string("/world/") + getGzWorldName() +"/dynamic_pose/info";
m_service_spawn = std::string("/world/") + getGzWorldName() + "/create";
if (!doGzSpawn()) {
return CallbackReturn::ERROR;
}
return CallbackReturn::SUCCESS;
}
CallbackReturn GzEnviroment::on_activate(const rclcpp_lifecycle::State&) {
// Setting up the subscribers and publishers
RCLCPP_INFO(getNode()->get_logger(), "GzEnviroment is on_activate");
m_gz_node->Subscribe(m_topic_name, &GzEnviroment::onGzPoseSub, this);
m_tf2_broadcaster = std::make_unique<tf2_ros::TransformBroadcaster>(getNode());
return CallbackReturn::SUCCESS;
}
CallbackReturn
GzEnviroment::on_cleanup(const rclcpp_lifecycle::State&)
{
RCLCPP_INFO(this->get_logger(), "GzEnviroment is on_cleanup");
RCLCPP_INFO(getNode()->get_logger(), "GzEnviroment is on_cleanup");
m_tf2_broadcaster.reset();
m_gz_node.reset();
@ -27,34 +48,21 @@ GzEnviroment::on_cleanup(const rclcpp_lifecycle::State&)
return CallbackReturn::SUCCESS;
}
CallbackReturn
GzEnviroment::on_activate(const rclcpp_lifecycle::State&)
{
RCLCPP_INFO(this->get_logger(), "GzEnviroment is on_activate");
m_tf2_broadcaster = std::make_unique<tf2_ros::TransformBroadcaster>(this);
m_gz_node = std::make_shared<ignition::transport::Node>();
std::string m_topic_name = "/world/" + getGzWorldName() +"/dynamic_pose/info";
std::string m_service_spawn = "/world/" + getGzWorldName() + "/create";
m_gz_node->Subscribe(m_topic_name, &GzEnviroment::onGzPoseSub, this);
return CallbackReturn::SUCCESS;
}
CallbackReturn
GzEnviroment::on_deactivate(const rclcpp_lifecycle::State&)
{
RCLCPP_INFO(this->get_logger(), "GzEnviroment is on_deactivate");
RCLCPP_INFO(getNode()->get_logger(), "GzEnviroment is on_deactivate");
return CallbackReturn::SUCCESS;
}
// TODO: Check do this via EntityComponentManager
void
GzEnviroment::onGzPoseSub(const gz::msgs::Pose_V& pose_v)
{
m_follow_frames = {"box1", "box2", "box3", "box4"};
// TODO: Read from config
m_follow_frames = {"box1", "box2", "box3", "box4", "box5", "box6", "monkey"};
for (const auto &it: pose_v.pose())
{
if (std::find(m_follow_frames.begin(), m_follow_frames.end(), it.name()) == m_follow_frames.end())
@ -65,7 +73,7 @@ GzEnviroment::onGzPoseSub(const gz::msgs::Pose_V& pose_v)
geometry_msgs::msg::TransformStamped t;
t.header.stamp = this->get_clock()->now();
t.header.stamp = getNode()->get_clock()->now();
t.header.frame_id = "world";
t.child_frame_id = it.name();
@ -92,35 +100,75 @@ GzEnviroment::getGzWorldName()
gz::msgs::StringMsg_V worlds_msg;
while (rclcpp::ok() && !executed) {
RCLCPP_INFO(this->get_logger(), "Requesting list of world names.");
RCLCPP_INFO(getNode()->get_logger(), "Requesting list of world names.");
executed = m_gz_node->Request(service, timeout, worlds_msg, result);
}
if (!executed) {
RCLCPP_INFO(this->get_logger(), "Timed out when getting world names.");
RCLCPP_INFO(getNode()->get_logger(), "Timed out when getting world names.");
return "";
}
if (!result || worlds_msg.data().empty()) {
RCLCPP_INFO(this->get_logger(), "Failed to get world names.");
RCLCPP_INFO(getNode()->get_logger(), "Failed to get world names.");
return "";
}
RCLCPP_INFO(this->get_logger(), "%s", worlds_msg.data(0).c_str());
RCLCPP_INFO(getNode()->get_logger(), "%s", worlds_msg.data(0).c_str());
return worlds_msg.data(0);
}
void
bool
GzEnviroment::doGzSpawn()
{
gz::msgs::EntityFactory entity;
gz::msgs::Model model;
gz::msgs::Link link;
gz::msgs::EntityFactory req;
gz::msgs::Boolean rep;
bool result;
unsigned int timeout = 5000;
// TODO: From Config
std::vector<double> pps{1.0, 0.0, 1.0, 0.0, 0.0};
std::string mesh_file = "monkey.stl";
std::string mesh_name = "monkey";
// ENDTODO
std::string sdf_string = createGzModelString(pps, mesh_file, mesh_name);
req.set_sdf(sdf_string);
bool executed = m_gz_node->Request(m_service_spawn, req, timeout, rep, result);
return executed;
}
std::string
GzEnviroment::createGzModelString(
const std::vector<double>& pose,
const std::string& mesh_filepath,
const std::string& name
)
{
std::string model_template =
std::string("<sdf version='1.7'>") +
"<model name='"+ name +"'>" +
"<link name='link_"+ name +"'>" +
"<pose>"
+std::to_string(pose[0])+" "
+std::to_string(pose[1])+" "
+std::to_string(pose[2])+" "
+std::to_string(pose[3])+" "
+std::to_string(pose[4])+" "
+std::to_string(pose[5])+"</pose>" +
"<visual name='visual_"+name+"'>" +
"<geometry><mesh><uri>file://"+mesh_filepath+"</uri></mesh></geometry>" +
"</visual>" +
"<collision name='collision_"+name+"'>" +
"<geometry><mesh><uri>file://"+mesh_filepath+"</uri></mesh></geometry>" +
"</collision>" +
"</link>" +
"</model>" +
"</sdf>";
return model_template;
}
}
#include "pluginlib/class_list_macros.hpp"
PLUGINLIB_EXPORT_CLASS(
gz_enviroment::GzEnviroment, rclcpp_lifecycle::LifecycleNode
gz_enviroment::GzEnviroment, env_interface::EnvInterface
);

2
rbs_simulation/launch/simulation.launch.py
View file

@ -26,7 +26,7 @@ def generate_launch_description():
DeclareLaunchArgument("env_manager", default_value="false", description="Launch env_manager?")
)
declared_arguments.append(
DeclareLaunchArgument("gazebo_gui", default_value="false", description="Launch env_manager?")
DeclareLaunchArgument("gazebo_gui", default_value="true", description="Launch env_manager?")
)
sim_gazebo = LaunchConfiguration("sim_gazebo")