From bb9c3ea22cd8ff2d49b97814c3388d5111d25f40 Mon Sep 17 00:00:00 2001 From: Teo Koon Peng Date: Mon, 6 Nov 2023 14:36:36 +0800 Subject: [PATCH 1/3] remove license-file it is not necessary when using SPDX license ``` warning: only one of `license` or `license-file` is necessary `license` should be used if the package license can be expressed with a standard SPDX expression. `license-file` should be used if the package uses a non-standard license. See https://doc.rust-lang.org/cargo/reference/manifest.html#the-license-and-license-file-fields for more information. ``` Signed-off-by: Teo Koon Peng --- Cargo.toml | 1 - LICENSE | 201 ----------------------------------------------------- 2 files changed, 202 deletions(-) delete mode 100644 LICENSE diff --git a/Cargo.toml b/Cargo.toml index 3326a52..cc6b9af 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -4,7 +4,6 @@ version = "0.1.0" edition = "2021" default-run = "redf" license = "Apache-2.0" -license-file = "LICENSE" [[bin]] name = "generate-schema" diff --git a/LICENSE b/LICENSE deleted file mode 100644 index f49a4e1..0000000 --- a/LICENSE +++ /dev/null @@ -1,201 +0,0 @@ - Apache License - Version 2.0, January 2004 - http://www.apache.org/licenses/ - - TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION - - 1. 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We also recommend that a - file or class name and description of purpose be included on the - same "printed page" as the copyright notice for easier - identification within third-party archives. - - Copyright [yyyy] [name of copyright owner] - - Licensed under the Apache License, Version 2.0 (the "License"); - you may not use this file except in compliance with the License. - You may obtain a copy of the License at - - http://www.apache.org/licenses/LICENSE-2.0 - - Unless required by applicable law or agreed to in writing, software - distributed under the License is distributed on an "AS IS" BASIS, - WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - See the License for the specific language governing permissions and - limitations under the License. \ No newline at end of file From d6312a68d50e5ada7ad58a7e703f3e9bde359132 Mon Sep 17 00:00:00 2001 From: Teo Koon Peng Date: Mon, 6 Nov 2023 15:00:03 +0800 Subject: [PATCH 2/3] update readme and cargo manifest Signed-off-by: Teo Koon Peng --- Cargo.toml | 2 ++ README.md | 55 +++++++++++++++++++++++++++++------------------------- 2 files changed, 32 insertions(+), 25 deletions(-) diff --git a/Cargo.toml b/Cargo.toml index cc6b9af..c0f1304 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -4,6 +4,8 @@ version = "0.1.0" edition = "2021" default-run = "redf" license = "Apache-2.0" +repository = "https://github.com/osrf/redf" +description = "Generates ROS packages which define ROS endpoints" [[bin]] name = "generate-schema" diff --git a/README.md b/README.md index 23e3e51..bba4aa7 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,6 @@ ### redf -`redf` stands for "ROS Endpoint Definition Format", it defines a yaml format which describes the endpoints of a ROS system. +The ROS message definition format only defines the structure of a message, service or action, it does not define "endpoints", things like the topic names and qos expected by the publisher and subscriber. `redf` attempts to fill that gap by defining "endpoints" from a yaml file and using that to generate ROS packages. `redf` aims to be the equivalent of openapi/swagger for ROS. ### Supported Distros @@ -11,13 +11,15 @@ A common problem of ROS is that it only contains message definitions, there is no definition of the topics available and their QoS settings expected. `redf` aims to solve this by defining the endpoints in a yaml file and generating code so that other packages will not have wrong topics and mismatched QoS. Currently `redf` can: -* Generate a rclcpp based ROS package with the topics, services, actions and their QoS + +- Generate a rclcpp based ROS package with the topics, services, actions and their QoS Other planned features includes: -* Generate documentations -* Generate a rclpy based package -* Integrate with the rosidl codegen -* Integrate with rcl + +- Generate documentations +- Generate a rclpy based package +- Integrate with the rosidl codegen +- Integrate with rcl ### Example @@ -51,6 +53,7 @@ This will generate a full, ready-to-use ROS package, it can be included into a c An example of using the endpoint definitions: CMakeLists.txt: + ```cmake cmake_minimum_required(VERSION 3.16) project(test_node) @@ -62,9 +65,10 @@ add_executable(test_node main.cpp) target_link_libraries(test_node rclcpp::rclcpp test_api::test_api) ``` -* `test_api` automatically brings in the required messages. +- `test_api` automatically brings in the required messages. main.cpp: + ```cpp #include #include @@ -83,9 +87,9 @@ int main(int argc, char* argv[]) { } ``` -* `MessageType` is a alias to the message type used for the topic (in this case, it is `std_msgs/msg/String`). -* `topic_name()` returns a `std::string` with the topic name of the endpoint. -* `qos()` returns the `rclcpp::QoS` of the endpoint. +- `MessageType` is a alias to the message type used for the topic (in this case, it is `std_msgs/msg/String`). +- `topic_name()` returns a `std::string` with the topic name of the endpoint. +- `qos()` returns the `rclcpp::QoS` of the endpoint. Example for service clients: @@ -106,9 +110,9 @@ int main(int argc, char* argv[]) { } ``` -* `ServiceType` is a alias to the message type used for the topic (in this case, it is `example_interfaces/srv/AddTwoInts`). -* `service_name()` returns a `std::string` with the service name of the endpoint. -* The default service qos will be used. +- `ServiceType` is a alias to the message type used for the topic (in this case, it is `example_interfaces/srv/AddTwoInts`). +- `service_name()` returns a `std::string` with the service name of the endpoint. +- The default service qos will be used. For more examples, see https://github.com/ros2/examples, usages with `redf` is the same, just replace the message types, strings and qos with those from the generated library. @@ -127,11 +131,11 @@ cargo run -F json_schema --bin generate-schema Sometimes a system may use namespaced topics to separate the channels between similar nodes. For example, a camera array may publish their images to `/camera_0/image_raw`, `/camera_1/image_raw`... etc. This can be represented with redf via variable subsitution. ```yaml - - title: Camera Images - type: topic - description: Raw camera images - topic: '/{camera_id}/image_raw' - message_type: sensor_msgs/msg/Image +- title: Camera Images + type: topic + description: Raw camera images + topic: '/{camera_id}/image_raw' + message_type: sensor_msgs/msg/Image ``` When redf generates code for this endpoint, it will have an argument in the `topic_name` function, e.g. @@ -166,13 +170,14 @@ You should now have code completion for redf ### Running Tests Requirements: -* supported ros distro -* rosdeps - * ament_cmake - * std_msgs - * example_interfaces - * rclcpp - * rclcpp_action + +- supported ros distro +- rosdeps + - ament_cmake + - std_msgs + - example_interfaces + - rclcpp + - rclcpp_action Use `rosdep` to resolve and install the dependencies From a0a545ccb9e2c2286ffd8746bd54d5523357605c Mon Sep 17 00:00:00 2001 From: Teo Koon Peng Date: Tue, 7 Nov 2023 15:22:26 +0800 Subject: [PATCH 3/3] undo formatting changes Signed-off-by: Teo Koon Peng --- README.md | 55 ++++++++++++++++++++++++++----------------------------- 1 file changed, 26 insertions(+), 29 deletions(-) diff --git a/README.md b/README.md index bba4aa7..da84fda 100644 --- a/README.md +++ b/README.md @@ -1,5 +1,7 @@ ### redf +`redf` helps to manage topics, services and actions used by ROS nodes. + The ROS message definition format only defines the structure of a message, service or action, it does not define "endpoints", things like the topic names and qos expected by the publisher and subscriber. `redf` attempts to fill that gap by defining "endpoints" from a yaml file and using that to generate ROS packages. `redf` aims to be the equivalent of openapi/swagger for ROS. ### Supported Distros @@ -11,15 +13,13 @@ The ROS message definition format only defines the structure of a message, servi A common problem of ROS is that it only contains message definitions, there is no definition of the topics available and their QoS settings expected. `redf` aims to solve this by defining the endpoints in a yaml file and generating code so that other packages will not have wrong topics and mismatched QoS. Currently `redf` can: - -- Generate a rclcpp based ROS package with the topics, services, actions and their QoS +* Generate a rclcpp based ROS package with the topics, services, actions and their QoS Other planned features includes: - -- Generate documentations -- Generate a rclpy based package -- Integrate with the rosidl codegen -- Integrate with rcl +* Generate documentations +* Generate a rclpy based package +* Integrate with the rosidl codegen +* Integrate with rcl ### Example @@ -53,7 +53,6 @@ This will generate a full, ready-to-use ROS package, it can be included into a c An example of using the endpoint definitions: CMakeLists.txt: - ```cmake cmake_minimum_required(VERSION 3.16) project(test_node) @@ -65,10 +64,9 @@ add_executable(test_node main.cpp) target_link_libraries(test_node rclcpp::rclcpp test_api::test_api) ``` -- `test_api` automatically brings in the required messages. +* `test_api` automatically brings in the required messages. main.cpp: - ```cpp #include #include @@ -87,9 +85,9 @@ int main(int argc, char* argv[]) { } ``` -- `MessageType` is a alias to the message type used for the topic (in this case, it is `std_msgs/msg/String`). -- `topic_name()` returns a `std::string` with the topic name of the endpoint. -- `qos()` returns the `rclcpp::QoS` of the endpoint. +* `MessageType` is a alias to the message type used for the topic (in this case, it is `std_msgs/msg/String`). +* `topic_name()` returns a `std::string` with the topic name of the endpoint. +* `qos()` returns the `rclcpp::QoS` of the endpoint. Example for service clients: @@ -110,9 +108,9 @@ int main(int argc, char* argv[]) { } ``` -- `ServiceType` is a alias to the message type used for the topic (in this case, it is `example_interfaces/srv/AddTwoInts`). -- `service_name()` returns a `std::string` with the service name of the endpoint. -- The default service qos will be used. +* `ServiceType` is a alias to the message type used for the topic (in this case, it is `example_interfaces/srv/AddTwoInts`). +* `service_name()` returns a `std::string` with the service name of the endpoint. +* The default service qos will be used. For more examples, see https://github.com/ros2/examples, usages with `redf` is the same, just replace the message types, strings and qos with those from the generated library. @@ -131,11 +129,11 @@ cargo run -F json_schema --bin generate-schema Sometimes a system may use namespaced topics to separate the channels between similar nodes. For example, a camera array may publish their images to `/camera_0/image_raw`, `/camera_1/image_raw`... etc. This can be represented with redf via variable subsitution. ```yaml -- title: Camera Images - type: topic - description: Raw camera images - topic: '/{camera_id}/image_raw' - message_type: sensor_msgs/msg/Image + - title: Camera Images + type: topic + description: Raw camera images + topic: '/{camera_id}/image_raw' + message_type: sensor_msgs/msg/Image ``` When redf generates code for this endpoint, it will have an argument in the `topic_name` function, e.g. @@ -170,14 +168,13 @@ You should now have code completion for redf ### Running Tests Requirements: - -- supported ros distro -- rosdeps - - ament_cmake - - std_msgs - - example_interfaces - - rclcpp - - rclcpp_action +* supported ros distro +* rosdeps + * ament_cmake + * std_msgs + * example_interfaces + * rclcpp + * rclcpp_action Use `rosdep` to resolve and install the dependencies