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apockillapockill
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Fix circular dependency, update cruft (#8)
1 parent 33fb35a commit 227d504

6 files changed

Lines changed: 162 additions & 21 deletions

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‎.cruft.json‎

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@@ -1,6 +1,6 @@
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{
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"template": "https://github.com/UrbanMachine/create-ros-app.git",
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"commit": "6a85fd934e7c6297d5fd717c545fad443cc4dfcf",
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"commit": "5d14b64b8a4c2ac85f57a19dd962216de9c7a28a",
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"checkout": null,
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"context": {
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"cookiecutter": {

‎docker/Dockerfile‎

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@@ -45,6 +45,7 @@ RUN --mount=type=cache,target="${APT_CACHE}" \
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# Build tools
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build-essential \
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git \
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git-lfs \
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# Complementary ROS2 Python tools
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python3-colcon-common-extensions \
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python3-colcon-mixin \

‎launch-profiles/node_helpers_showcase/launcher.py‎

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Original file line numberDiff line numberDiff line change
@@ -1,12 +1,69 @@
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"""Launch nodes for this launch profile."""
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from pathlib import Path
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from launch import LaunchDescription
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from launch_ros.actions import Node
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# Import the forklift URDF module so it register itself with the URDFConstants
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from node_helpers import launching
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from node_helpers.parameters import ParameterLoader
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from pydantic import BaseModel
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class MetaParameters(BaseModel):
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"""This is a great place to put parameters that affect the generation of the launch
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file. Don't put node specific configuration in here, rather, put configuration for
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what nodes you want to be created in the first place.
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Read more about this functionality under docs/parameters.rst
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"""
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urdf_modules_to_load: list[launching.URDFModuleNodeFactory.Parameters]
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"""This is an example of dynamically loading an arbitrary number of URDFs.
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This is set in the `/robot/launch-profile/parameters.yaml` under `meta_parameters`.
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"""
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def generate_launch_description() -> LaunchDescription:
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rviz_config = "/robot/launch-profile/rviz-config.rviz"
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# Create a parameter loader to parse all yaml files in the launch-profile/parameters
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# directory, and then apply overrides from the override file, if one exists.
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param_loader: ParameterLoader[MetaParameters] = ParameterLoader(
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parameters_directory=Path("/robot/launch-profile/parameters/"),
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override_file=Path("/robot/launch-profile/parameters.override.yaml"),
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meta_parameters_schema=MetaParameters,
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)
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rviz_config = launching.required_file("/robot/launch-profile/rviz-config.rviz")
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urdf_node_factories = (
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launching.URDFModuleNodeFactory(parameters=node_factory_params)
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for node_factory_params in param_loader.meta_parameters.urdf_modules_to_load
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)
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urdf_nodes = []
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for urdf_node_factory in urdf_node_factories:
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urdf_nodes += urdf_node_factory.create_nodes()
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launch_description = [
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Node(package="rviz2", executable="rviz2", arguments=["-d", [rviz_config]]),
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*urdf_nodes,
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Node(
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package="node_helpers",
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executable="run_ExampleNode",
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name="ExampleNode",
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parameters=[param_loader.ros_parameters_file],
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namespace="example_node_namespace",
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),
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Node(
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package="rviz2",
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executable="rviz2",
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arguments=["-d", [str(rviz_config)]],
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),
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Node(
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namespace="urdf_arrangement",
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package="node_helpers",
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executable="interactive_transform_publisher",
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parameters=[param_loader.ros_parameters_file],
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),
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]
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return LaunchDescription(launch_description)

‎launch-profiles/node_helpers_showcase/parameters/parameters.yaml‎

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,23 @@
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meta_parameters:
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urdf_modules_to_load:
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# URDF's are attached to base_link down below in the
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- namespace: "example_node_namespace"
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urdf_constant_name: "forklift"
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example_node_namespace:
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ExampleNode:
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ros__parameters:
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root_config:
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publish_value: "hello"
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publish_hz: 10.0
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urdf_arrangement:
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interactive_transform_publisher:
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ros__parameters:
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static_transforms_file: /robot/persistent/interactive_transforms.json
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scale_factor: 1.0
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tf_publish_frequency: 1.0
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transforms:
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# Mounts the forklift urdf to the base_link so it can be visualized in rviz
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- "base_link:example_node_namespace.forklift_body"

‎launch-profiles/node_helpers_showcase/rviz-config.rviz‎

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Original file line numberDiff line numberDiff line change
@@ -4,10 +4,10 @@ Panels:
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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- /InteractiveMarkers1
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- /InteractiveTransforms1
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Splitter Ratio: 0.5
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Tree Height: 1064
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Tree Height: 1108
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
@@ -47,10 +47,69 @@ Visualization Manager:
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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Class: rviz_default_plugins/RobotModel
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Collision Enabled: false
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Description File: ""
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Description Source: Topic
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Description Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /example_node_namespace/urdf_0/robot_description
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Enabled: true
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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example_node_namespace.forklift_body:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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example_node_namespace.forks:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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example_node_namespace.forks_origin:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Mass Properties:
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Inertia: false
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Mass: false
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Name: ExampleURDF
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true
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- Class: rviz_default_plugins/InteractiveMarkers
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Enable Transparency: true
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Enabled: true
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Interactive Markers Namespace: ""
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Name: InteractiveMarkers
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Show Axes: false
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Show Descriptions: true
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Show Visual Aids: false
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Value: true
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- Class: rviz_default_plugins/InteractiveMarkers
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Enable Transparency: true
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Enabled: true
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Interactive Markers Namespace: /urdf_arrangement
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Name: InteractiveTransforms
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Show Axes: false
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Show Descriptions: true
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Show Visual Aids: false
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Fixed Frame: map
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Fixed Frame: base_link
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Frame Rate: 30
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Name: root
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Tools:
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
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Distance: 10
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Distance: 8.649819374084473
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: 0
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Y: 0
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Z: 0
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X: -0.4261273145675659
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Y: -0.3684071898460388
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Z: 0.5727261900901794
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.785398006439209
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Pitch: 0.5403984189033508
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 0.785398006439209
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Yaw: 1.0753980875015259
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 1355
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Height: 1331
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd000000040000000000000156000004b1fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000004b1000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000004b1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000004b1000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004f60000003efc0100000002fb0000000800540069006d00650100000000000004f60000025300fffffffb0000000800540069006d0065010000000000000450000000000000000000000285000004b100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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QMainWindow State: 000000ff00000000fd0000000400000000000001c5000004ddfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000004dd000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000499fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000499000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009f40000003efc0100000002fb0000000800540069006d00650000000000000009f40000025300fffffffb0000000800540069006d0065010000000000000450000000000000000000000829000004dd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
@@ -128,6 +187,6 @@ Window Geometry:
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collapsed: false
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Views:
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collapsed: false
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Width: 1270
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X: 3842
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Y: 40
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Width: 2548
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X: 8
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Y: 64

‎pkgs/node_helpers/node_helpers/urdfs/loading.py‎

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@@ -4,8 +4,6 @@
44

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from ament_index_python import get_package_share_directory
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7-
from node_helpers.launching.files import required_file
8-
97
NAMESPACE_FMT = "{namespace}.{name}"
108
_JOINT_TAG = "joint"
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_LINK_TAG = "link"
@@ -20,7 +18,10 @@ def load_urdf(package: str, relative_urdf_path: Path | str) -> str:
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2119
relative_urdf_path = Path(relative_urdf_path)
2220
package_root = get_package_share_directory(package)
23-
urdf_file = required_file(package_root, relative_urdf_path)
21+
urdf_file = Path(package_root, relative_urdf_path)
22+
23+
if not urdf_file.is_file():
24+
raise FileNotFoundError(f"URDF file '{urdf_file!s}' not found")
2425
return urdf_file.read_text()
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