Merge pull request #7 from ika-rwth-aachen/launch-file-improvements

Improve launch file with remappable topics and use_sim_time
ika-rwth-aachen · Dec 6, 2024 · 14c49a9 · 14c49a9
2 parents c7b3afc + ef3af6d
commit 14c49a9
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Showing 12 changed files with 105 additions and 23 deletions.
diff --git a/.github/workflows/check-samples.yml b/.github/workflows/check-samples.yml
@@ -105,7 +105,7 @@ jobs:
           git config --global user.email "[email protected]"
       - name: Generate packages
         run: |
-          copier copy --trust --defaults \
+          copier copy --trust --defaults --overwrite --vcs-ref=HEAD \
             -d template=${{ matrix.template }} \
             -d package_name=${{ matrix.package_name }} \
             -d node_name=${{ matrix.node_name }} \

diff --git a/ros2-pkg-create/pyproject.toml b/ros2-pkg-create/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "ros2-pkg-create"
-version = "1.0.2"
+version = "1.1.0"
 description = "Powerful ROS 2 Package Generator"
 license = {file = "LICENSE"}
 readme = "README.md"

diff --git a/ros2-pkg-create/src/ros2_pkg_create/__init__.py b/ros2-pkg-create/src/ros2_pkg_create/__init__.py
@@ -1,2 +1,2 @@
 __name__ = "ros2-pkg-create"
-__version__ = "1.0.2"
+__version__ = "1.1.0"
diff --git a/samples/generate_samples.sh b/samples/generate_samples.sh
@@ -1,8 +1,9 @@
 #!/bin/bash
 
 script_dir=$(dirname $0)
+template_dir="$script_dir/.."
 
-copier copy --trust --defaults \
+copier copy --trust --defaults --overwrite --vcs-ref=HEAD \
             -d template=ros2_cpp_pkg \
             -d package_name=ros2_cpp_pkg \
             -d node_name=ros2_cpp_node \
@@ -16,9 +17,9 @@ copier copy --trust --defaults \
             -d has_action_server=false \
             -d has_timer=false \
             -d has_docker_ros=true \
-            . $script_dir
+            $template_dir $script_dir
 
-copier copy --trust --defaults \
+copier copy --trust --defaults --overwrite --vcs-ref=HEAD \
             -d template=ros2_cpp_pkg \
             -d package_name=ros2_cpp_component_pkg \
             -d node_name=ros2_cpp_node \
@@ -32,9 +33,9 @@ copier copy --trust --defaults \
             -d has_action_server=false \
             -d has_timer=false \
             -d has_docker_ros=true \
-            . $script_dir
+            $template_dir $script_dir
 
-copier copy --trust --defaults \
+copier copy --trust --defaults --overwrite --vcs-ref=HEAD \
             -d template=ros2_cpp_pkg \
             -d package_name=ros2_cpp_lifecycle_pkg \
             -d node_name=ros2_cpp_node \
@@ -48,9 +49,9 @@ copier copy --trust --defaults \
             -d has_action_server=false \
             -d has_timer=false \
             -d has_docker_ros=true \
-            . $script_dir
+            $template_dir $script_dir
 
-copier copy --trust --defaults \
+copier copy --trust --defaults --overwrite --vcs-ref=HEAD \
             -d template=ros2_cpp_pkg \
             -d package_name=ros2_cpp_all_pkg \
             -d node_name=ros2_cpp_node \
@@ -64,9 +65,9 @@ copier copy --trust --defaults \
             -d has_action_server=true \
             -d has_timer=true \
             -d has_docker_ros=true \
-            . $script_dir
+            $template_dir $script_dir
 
-copier copy --trust --defaults \
+copier copy --trust --defaults --overwrite --vcs-ref=HEAD \
             -d template=ros2_python_pkg \
             -d package_name=ros2_python_pkg \
             -d node_name=ros2_python_node \
@@ -78,9 +79,9 @@ copier copy --trust --defaults \
             -d has_action_server=false \
             -d has_timer=false \
             -d has_docker_ros=true \
-            . $script_dir
+            $template_dir $script_dir
 
-copier copy --trust --defaults \
+copier copy --trust --defaults --overwrite --vcs-ref=HEAD \
             -d template=ros2_python_pkg \
             -d package_name=ros2_python_all_pkg \
             -d node_name=ros2_python_node \
@@ -92,9 +93,9 @@ copier copy --trust --defaults \
             -d has_action_server=true \
             -d has_timer=true \
             -d has_docker_ros=true \
-            . $script_dir
+            $template_dir $script_dir
 
-copier copy --trust --defaults \
+copier copy --trust --defaults --overwrite --vcs-ref=HEAD \
             -d template=ros2_interfaces_pkg \
             -d package_name=ros2_interfaces_pkg \
-            . $script_dir
+            $template_dir $script_dir
diff --git a/samples/ros2_cpp_all_pkg/launch/ros2_cpp_node_launch.py b/samples/ros2_cpp_all_pkg/launch/ros2_cpp_node_launch.py
@@ -12,12 +12,19 @@
 
 def generate_launch_description():
 
+    remappable_topics = [
+        DeclareLaunchArgument("input_topic", default_value="~/input"),
+        DeclareLaunchArgument("output_topic", default_value="~/output"),
+    ]
+
     args = [
         DeclareLaunchArgument("name", default_value="ros2_cpp_node", description="node name"),
         DeclareLaunchArgument("namespace", default_value="", description="node namespace"),
         DeclareLaunchArgument("params", default_value=os.path.join(get_package_share_directory("ros2_cpp_all_pkg"), "config", "params.yml"), description="path to parameter file"),
         DeclareLaunchArgument("log_level", default_value="info", description="ROS logging level (debug, info, warn, error, fatal)"),
         DeclareLaunchArgument("startup_state", default_value="None", description="initial lifecycle state"),
+        DeclareLaunchArgument("use_sim_time", default_value="false", description="use simulation clock"),
+        *remappable_topics,
     ]
 
     nodes = [
@@ -35,6 +42,7 @@ def generate_launch_description():
                     name=LaunchConfiguration("name"),
                     parameters=[LaunchConfiguration("params")],
                     arguments=["--ros-args", "--log-level", LaunchConfiguration("log_level")],
+                    remappings=[(la.default_value[0].text, LaunchConfiguration(la.name)) for la in remappable_topics],
                     output="screen",
                     emulate_tty=True,
                 )
@@ -44,5 +52,6 @@ def generate_launch_description():
 
     return LaunchDescription([
         *args,
+        SetParameter("use_sim_time", LaunchConfiguration("use_sim_time")),
         *nodes,
     ])
diff --git a/samples/ros2_cpp_component_pkg/launch/ros2_cpp_node_launch.py b/samples/ros2_cpp_component_pkg/launch/ros2_cpp_node_launch.py
@@ -6,16 +6,23 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
+from launch_ros.actions import Node, SetParameter
 
 
 def generate_launch_description():
 
+    remappable_topics = [
+        DeclareLaunchArgument("input_topic", default_value="~/input"),
+        DeclareLaunchArgument("output_topic", default_value="~/output"),
+    ]
+
     args = [
         DeclareLaunchArgument("name", default_value="ros2_cpp_node", description="node name"),
         DeclareLaunchArgument("namespace", default_value="", description="node namespace"),
         DeclareLaunchArgument("params", default_value=os.path.join(get_package_share_directory("ros2_cpp_component_pkg"), "config", "params.yml"), description="path to parameter file"),
         DeclareLaunchArgument("log_level", default_value="info", description="ROS logging level (debug, info, warn, error, fatal)"),
+        DeclareLaunchArgument("use_sim_time", default_value="false", description="use simulation clock"),
+        *remappable_topics,
     ]
 
     nodes = [
@@ -26,12 +33,14 @@ def generate_launch_description():
             name=LaunchConfiguration("name"),
             parameters=[LaunchConfiguration("params")],
             arguments=["--ros-args", "--log-level", LaunchConfiguration("log_level")],
+            remappings=[(la.default_value[0].text, LaunchConfiguration(la.name)) for la in remappable_topics],
             output="screen",
             emulate_tty=True,
         )
     ]
 
     return LaunchDescription([
         *args,
+        SetParameter("use_sim_time", LaunchConfiguration("use_sim_time")),
         *nodes,
     ])
diff --git a/samples/ros2_cpp_lifecycle_pkg/launch/ros2_cpp_node_launch.py b/samples/ros2_cpp_lifecycle_pkg/launch/ros2_cpp_node_launch.py
@@ -12,12 +12,19 @@
 
 def generate_launch_description():
 
+    remappable_topics = [
+        DeclareLaunchArgument("input_topic", default_value="~/input"),
+        DeclareLaunchArgument("output_topic", default_value="~/output"),
+    ]
+
     args = [
         DeclareLaunchArgument("name", default_value="ros2_cpp_node", description="node name"),
         DeclareLaunchArgument("namespace", default_value="", description="node namespace"),
         DeclareLaunchArgument("params", default_value=os.path.join(get_package_share_directory("ros2_cpp_lifecycle_pkg"), "config", "params.yml"), description="path to parameter file"),
         DeclareLaunchArgument("log_level", default_value="info", description="ROS logging level (debug, info, warn, error, fatal)"),
         DeclareLaunchArgument("startup_state", default_value="None", description="initial lifecycle state"),
+        DeclareLaunchArgument("use_sim_time", default_value="false", description="use simulation clock"),
+        *remappable_topics,
     ]
 
     nodes = [
@@ -35,6 +42,7 @@ def generate_launch_description():
                     name=LaunchConfiguration("name"),
                     parameters=[LaunchConfiguration("params")],
                     arguments=["--ros-args", "--log-level", LaunchConfiguration("log_level")],
+                    remappings=[(la.default_value[0].text, LaunchConfiguration(la.name)) for la in remappable_topics],
                     output="screen",
                     emulate_tty=True,
                 )
@@ -44,5 +52,6 @@ def generate_launch_description():
 
     return LaunchDescription([
         *args,
+        SetParameter("use_sim_time", LaunchConfiguration("use_sim_time")),
         *nodes,
     ])
diff --git a/samples/ros2_cpp_pkg/launch/ros2_cpp_node_launch.py b/samples/ros2_cpp_pkg/launch/ros2_cpp_node_launch.py
@@ -6,16 +6,23 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
+from launch_ros.actions import Node, SetParameter
 
 
 def generate_launch_description():
 
+    remappable_topics = [
+        DeclareLaunchArgument("input_topic", default_value="~/input"),
+        DeclareLaunchArgument("output_topic", default_value="~/output"),
+    ]
+
     args = [
         DeclareLaunchArgument("name", default_value="ros2_cpp_node", description="node name"),
         DeclareLaunchArgument("namespace", default_value="", description="node namespace"),
         DeclareLaunchArgument("params", default_value=os.path.join(get_package_share_directory("ros2_cpp_pkg"), "config", "params.yml"), description="path to parameter file"),
         DeclareLaunchArgument("log_level", default_value="info", description="ROS logging level (debug, info, warn, error, fatal)"),
+        DeclareLaunchArgument("use_sim_time", default_value="false", description="use simulation clock"),
+        *remappable_topics,
     ]
 
     nodes = [
@@ -26,12 +33,14 @@ def generate_launch_description():
             name=LaunchConfiguration("name"),
             parameters=[LaunchConfiguration("params")],
             arguments=["--ros-args", "--log-level", LaunchConfiguration("log_level")],
+            remappings=[(la.default_value[0].text, LaunchConfiguration(la.name)) for la in remappable_topics],
             output="screen",
             emulate_tty=True,
         )
     ]
 
     return LaunchDescription([
         *args,
+        SetParameter("use_sim_time", LaunchConfiguration("use_sim_time")),
         *nodes,
     ])
diff --git a/samples/ros2_python_all_pkg/launch/ros2_python_node_launch.py b/samples/ros2_python_all_pkg/launch/ros2_python_node_launch.py
@@ -6,16 +6,23 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
+from launch_ros.actions import Node, SetParameter
 
 
 def generate_launch_description():
 
+    remappable_topics = [
+        DeclareLaunchArgument("input_topic", default_value="~/input"),
+        DeclareLaunchArgument("output_topic", default_value="~/output"),
+    ]
+
     args = [
         DeclareLaunchArgument("name", default_value="ros2_python_node", description="node name"),
         DeclareLaunchArgument("namespace", default_value="", description="node namespace"),
         DeclareLaunchArgument("params", default_value=os.path.join(get_package_share_directory("ros2_python_all_pkg"), "config", "params.yml"), description="path to parameter file"),
         DeclareLaunchArgument("log_level", default_value="info", description="ROS logging level (debug, info, warn, error, fatal)"),
+        DeclareLaunchArgument("use_sim_time", default_value="false", description="use simulation clock"),
+        *remappable_topics,
     ]
 
     nodes = [
@@ -26,12 +33,14 @@ def generate_launch_description():
             name=LaunchConfiguration("name"),
             parameters=[LaunchConfiguration("params")],
             arguments=["--ros-args", "--log-level", LaunchConfiguration("log_level")],
+            remappings=[(la.default_value[0].text, LaunchConfiguration(la.name)) for la in remappable_topics],
             output="screen",
             emulate_tty=True,
         )
     ]
 
     return LaunchDescription([
         *args,
+        SetParameter("use_sim_time", LaunchConfiguration("use_sim_time")),
         *nodes,
     ])
diff --git a/samples/ros2_python_pkg/launch/ros2_python_node_launch.py b/samples/ros2_python_pkg/launch/ros2_python_node_launch.py
@@ -6,16 +6,23 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
+from launch_ros.actions import Node, SetParameter
 
 
 def generate_launch_description():
 
+    remappable_topics = [
+        DeclareLaunchArgument("input_topic", default_value="~/input"),
+        DeclareLaunchArgument("output_topic", default_value="~/output"),
+    ]
+
     args = [
         DeclareLaunchArgument("name", default_value="ros2_python_node", description="node name"),
         DeclareLaunchArgument("namespace", default_value="", description="node namespace"),
         DeclareLaunchArgument("params", default_value=os.path.join(get_package_share_directory("ros2_python_pkg"), "config", "params.yml"), description="path to parameter file"),
         DeclareLaunchArgument("log_level", default_value="info", description="ROS logging level (debug, info, warn, error, fatal)"),
+        DeclareLaunchArgument("use_sim_time", default_value="false", description="use simulation clock"),
+        *remappable_topics,
     ]
 
     nodes = [
@@ -26,12 +33,14 @@ def generate_launch_description():
             name=LaunchConfiguration("name"),
             parameters=[LaunchConfiguration("params")],
             arguments=["--ros-args", "--log-level", LaunchConfiguration("log_level")],
+            remappings=[(la.default_value[0].text, LaunchConfiguration(la.name)) for la in remappable_topics],
             output="screen",
             emulate_tty=True,
         )
     ]
 
     return LaunchDescription([
         *args,
+        SetParameter("use_sim_time", LaunchConfiguration("use_sim_time")),
         *nodes,
     ])
diff --git a/...ch{% endif %}/{% if launch_file_type == 'py' %}{{ node_name }}_launch.py{% endif %}.jinja b/...ch{% endif %}/{% if launch_file_type == 'py' %}{{ node_name }}_launch.py{% endif %}.jinja
@@ -12,12 +12,21 @@ from launch_ros.actions import LifecycleNode, SetParameter
 {% else %}
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
+from launch_ros.actions import Node, SetParameter
 {% endif %}
 
 
 def generate_launch_description():
 
+    remappable_topics = [
+{% if has_subscriber %}
+        DeclareLaunchArgument("input_topic", default_value="~/input"),
+{% endif %}
+{% if has_publisher %}
+        DeclareLaunchArgument("output_topic", default_value="~/output"),
+{% endif %}
+    ]
+
     args = [
         DeclareLaunchArgument("name", default_value="{{ node_name }}", description="node name"),
         DeclareLaunchArgument("namespace", default_value="", description="node namespace"),
@@ -26,6 +35,8 @@ def generate_launch_description():
 {% if is_lifecycle %}
         DeclareLaunchArgument("startup_state", default_value="None", description="initial lifecycle state"),
 {% endif %}
+        DeclareLaunchArgument("use_sim_time", default_value="false", description="use simulation clock"),
+        *remappable_topics,
     ]
 
 {% if is_lifecycle %}
@@ -48,6 +59,7 @@ def generate_launch_description():
                     parameters=[],
 {% endif %}
                     arguments=["--ros-args", "--log-level", LaunchConfiguration("log_level")],
+                    remappings=[(la.default_value[0].text, LaunchConfiguration(la.name)) for la in remappable_topics],
                     output="screen",
                     emulate_tty=True,
                 )
@@ -67,6 +79,7 @@ def generate_launch_description():
             parameters=[],
 {% endif %}
             arguments=["--ros-args", "--log-level", LaunchConfiguration("log_level")],
+            remappings=[(la.default_value[0].text, LaunchConfiguration(la.name)) for la in remappable_topics],
             output="screen",
             emulate_tty=True,
         )
@@ -75,5 +88,6 @@ def generate_launch_description():
 
     return LaunchDescription([
         *args,
+        SetParameter("use_sim_time", LaunchConfiguration("use_sim_time")),
         *nodes,
     ])