149 lines
4.2 KiB
Markdown
149 lines
4.2 KiB
Markdown
## Environment Manager
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Environment Manager is a package that allow you to create custom environments based on *component*, switch between different environments, synchronization of different environments with each other.
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### Getting Started
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To get a local copy up and running follow these simple example steps.
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#### Prerequisites
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```bash
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# install glog
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sudo apt-get install libgoogle-glog-dev
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#install lua
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wget http://www.lua.org/ftp/lua-5.3.1.tar.gz
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tar zxf lua-5.3.1.tar.gz
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sudo make -C lua-5.3.1 linux && sudo make -C lua-5.3.1 install
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```
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### Config
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Configuration is done by lua.
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```lua
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-- require configuration table
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ENV_MANAGER = {
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-- dictionary of environments
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environments = {
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-- environment to upload with manager
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example_environment = {
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-- namespace in which all components will be
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namespace = "<namespace_name>",
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-- dictionary of components needed to upload for current environment
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components = {
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-- node match one of node in ENV_MANAGER.nodes
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example_node = {
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-- example libpub_component.so
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lib = "<library_name>"
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-- name of class which implement example_node logic
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class = "<class_name>"
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}
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},
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},
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},
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-- dictionary of nodes, that will be created by env_manager
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nodes = {
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-- node for initialization by env_manger
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example_node = {
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-- node name
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name = "<node_name>",
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-- one node can produce only one topic/service
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type = "<Publisher|Subscriber|Service|Client>",
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-- example "std_msgs/String",
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msg_type = "<msg_type>",
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},
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},
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}
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-- return configuration table
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return ENV_MANAGER
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```
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You can safely use all the feature of `lua` to write configuration.
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### Usage
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Create component library.
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```c++
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#include "component_manager/publisher_component.hpp"
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#include <chrono>
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#include <iostream>
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#include <memory>
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#include <utility>
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#include "rclcpp/rclcpp.hpp"
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#include <std_msgs/msg/string.hpp>
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namespace pub_component
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{
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using namespace std::chrono_literals;
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class Publisher: public env_manager::component_manager::PublisherComponent<std_msgs::msg::String>
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{
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public:
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explicit Publisher(const rclcpp::NodeOptions &options)
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: env_manager::component_manager::PublisherComponent<std_msgs::msg::String>(options)
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{
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timer_ = create_wall_timer(1s, std::bind(&Publisher::on_timer, this));
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}
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protected:
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void on_timer()
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{
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auto msg = std::make_unique<std_msgs::msg::String>();
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msg->data = "Hello World!";
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RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", msg->data.c_str());
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std::flush(std::cout);
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this->populate_publication(*msg.get());
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}
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private:
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rclcpp::TimerBase::SharedPtr timer_;
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};
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} // namespace pub_component
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#include "rclcpp_components/register_node_macro.hpp"
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RCLCPP_COMPONENTS_REGISTER_NODE(pub_component::Publisher)
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```
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```cmake
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add_library(pub_component SHARED
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src/pub_component.cpp)
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target_compile_definitions(pub_component
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PRIVATE "COMPOSITION_BUILDING_DLL")
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ament_target_dependencies(pub_component
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"rclcpp"
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"env_manager"
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"rclcpp_components"
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"std_msgs")
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rclcpp_components_register_nodes(pub_component "pub_component::Publisher")
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set(node_plugins "${node_plugins}pub_component::Publisher;$<TARGET_FILE:pub_component>\n")
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```
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Add component_library to your configuration file.
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```lua
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ENV_MANAGER = {
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environments = {
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example_environment = {
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namespace = "<namespace_name>",
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components = {
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example_node = {
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lib = "libpub_component.so"
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class = "pub_component::Publisher"
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}
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},
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},
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},
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nodes = {
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example_node = {
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name = "<node_name>",
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type = "Publisher",
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msg_type = "std_msgs/String",
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},
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},
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}
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return ENV_MANAGER
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```
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Start env_manager
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```bash
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source install/setup.bash
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ros2 run env_manager env_manager_node
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```
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### License
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Distributed under the Apache 2.0 License. See LICENSE for more information.
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