Parametrize Quality of Service in `parameter_bridge`. by LoyVanBeek · Pull Request #331 · ros2/ros1_bridge

LoyVanBeek · 2021-10-14T14:01:59Z

Had some trouble using the parameter_bridge with /tf_static Turns out, I/m not the only one: https://answers.ros.org/question/349230/problem-passing-tf_static-through-ros1_bridge-to-ros2/ . The dynamic_bridge has an special case for this topic introduced in #282, but not in the parameter_bridge.

To tackle that and be the most general I could be, I extended the parameter_bridge to set specific QoS settings per topic, allowing one the implement that special case if required.

I've used this config for testing (also with different and illegal values for the settings):

bridge.yaml.

topics:
  - 
    topic: /chatter  # ROS1 topic name
    type: std_msgs/msg/String  # ROS2 type name
    queue_size: 1  # For the publisher back to ROS1
  - 
    topic: /joint_states
    type: sensor_msgs/msg/JointState
    queue_size: 1
  - 
    topic: /message_to_ros
    type: std_msgs/msg/String
    queue_size: 1
  - 
    topic: /message_from_ros
    type: std_msgs/msg/String
    queue_size: 1
    qos:
      history: keep_last
      depth: 10
      reliability: reliable
      durability: transient_local
      deadline: 
          secs: 10
          nsecs: 2345
      lifespan: 
          secs: 20
          nsecs: 3456
      liveliness: LIVELINESS_AUTOMATIC
      liveliness_lease_duration: 
          secs: 40
          nsecs: 5678
  - 
    topic: /tf
    type: tf2_msgs/msg/TFMessage
    queue_size: 1
  - 
    topic: /tf_static
    type: tf2_msgs/msg/TFMessage
    queue_size: 1
    qos:
      history: keep_all
      durability: transient_local

Usage of the parameter_bridge is explained in #330, this bridge.yaml is can be used in the same way.

Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>

…representation of liveliness enum values Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>

Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>

In 2 cases the formatting conflicts with what uncrustify wants; // NOLINT got rid of the complaints of cpplint, favouring uncrustify Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>

LoyVanBeek · 2021-10-26T14:02:47Z

Anything I can do to improve this PR and maybe get it merged eventually?

README.md

src/parameter_bridge.cpp

Co-authored-by: Geoffrey Biggs <gbiggs@killbots.net> Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>

Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>

LoyVanBeek · 2022-04-26T12:05:43Z

Anything I can do to get this merged?

gbiggs · 2022-05-05T05:07:55Z

CI:

gbiggs · 2022-05-06T02:43:50Z

Let's try that again.

methylDragon · 2022-05-19T18:26:39Z

Unstable build seems to be coming from unrelated file: https://github.com/ros2/ros1_bridge/blob/master/include/ros1_bridge/builtin_interfaces_factories.hpp

gbiggs · 2022-06-22T00:16:18Z

Indeed, the failures look unrelated, so I'm going to go ahead and merge this.

jacobperron · 2022-07-18T18:46:54Z

Because of the added dependency on xmlrpcpp, this PR breaks building ros1_bridge on a system with only ROS 2 installed. Previously, I was able to build this package without ROS 1 installed (well, it kind of just skipped the build).

We might want to make xmlrpcpp a conditional dependency, like roscpp, emit a warning and skip the build, e.g.

ros1_bridge/CMakeLists.txt

Line 34 in 4af421d

if(NOT ros1_roscpp_FOUND)

Maybe this is not super important since we've removed ros1_bridge from the default ros2.repos file.

gbiggs · 2022-07-18T22:54:49Z

In the interest of not having to deal with bug reports about that problem, I've gone ahead and made a PR that moves the xmlrpcpp search to after searching for ROS 1.

#371

LoyVanBeek · 2022-07-19T07:22:18Z

Ah, my bad. I had assumed (the mother of ...) that xmlrpcpp would always be available on a system where ros1_bridge would be built, given the ROS 1 dependencies.

* Extend create_bidirectional_bridge to take qos param for ROS2 publisher Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Busy setting up a way to read QoS parameters from ROS1 params Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Parse history qos params Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Call qos_from_params when setting up topics Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Configure deadline, lifespan, liveliness_lease_durations Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Configure liveliness Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Add some basic debug text Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Print the QoS settings to stdout when setting them up Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Catch XmlRpc::XmlRpcExceptions when constructing QoS from parameters Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Parse liveliness as either int enum value or upper/lower case string representation of liveliness enum values Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Fix formatting with uncrustify Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Fix cpplint formatting In 2 cases the formatting conflicts with what uncrustify wants; // NOLINT got rid of the complaints of cpplint, favouring uncrustify Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Clearer logging as suggested by code review Co-authored-by: Geoffrey Biggs <gbiggs@killbots.net> Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Clarify keep_last vs keep_all setting for history Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> Co-authored-by: Geoffrey Biggs <gbiggs@killbots.net>

Just reproduces the changes made in ros2#331 in ros foxy. Parametrize Quality of Service in `parameter_bridge` Signed-off-by: Lucyanno Frota <lucyannofrota@gmail.com>

* Extend create_bidirectional_bridge to take qos param for ROS2 publisher Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Busy setting up a way to read QoS parameters from ROS1 params Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Parse history qos params Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Call qos_from_params when setting up topics Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Configure deadline, lifespan, liveliness_lease_durations Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Configure liveliness Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Add some basic debug text Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Print the QoS settings to stdout when setting them up Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Catch XmlRpc::XmlRpcExceptions when constructing QoS from parameters Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Parse liveliness as either int enum value or upper/lower case string representation of liveliness enum values Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Fix formatting with uncrustify Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Fix cpplint formatting In 2 cases the formatting conflicts with what uncrustify wants; // NOLINT got rid of the complaints of cpplint, favouring uncrustify Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Clearer logging as suggested by code review Co-authored-by: Geoffrey Biggs <gbiggs@killbots.net> Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> * Clarify keep_last vs keep_all setting for history Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> Co-authored-by: Geoffrey Biggs <gbiggs@killbots.net>

Just reproduces the changes made in ros2#331 in ros foxy. Parametrize Quality of Service in `parameter_bridge` Signed-off-by: Lucyanno Frota <lucyannofrota@gmail.com>

… commits (ec44770) and (86b4245) to foxy branch] (#401) * Port of the commit (ec44770) to foxy branch Just reproduces the changes made in #331 in ros foxy. Parametrize Quality of Service in `parameter_bridge` Signed-off-by: Lucyanno Frota <lucyannofrota@gmail.com> * Port of the commit (86b4245) to foxy branch Reproduces the changes made in #371 in ros foxy. Move xmlrpcpp find_package so it only searches if ROS 1 is found Signed-off-by: Lucyanno Frota <lucyannofrota@gmail.com> * CI fix White spaces removed Signed-off-by: Lucyanno Frota <lucyannofrota@gmail.com> --------- Signed-off-by: Lucyanno Frota <lucyannofrota@gmail.com>

LoyVanBeek force-pushed the feature-parametrize-qos branch from f405e65 to 9150c48 Compare October 14, 2021 14:03

LoyVanBeek marked this pull request as ready for review October 18, 2021 11:38

LoyVanBeek added 9 commits October 18, 2021 15:02

Extend create_bidirectional_bridge to take qos param for ROS2 publisher

ba6e72c

Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>

Busy setting up a way to read QoS parameters from ROS1 params

7dd23c3

Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>

Parse history qos params

f9dcb47

Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>

Call qos_from_params when setting up topics

5909480

Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>

Configure deadline, lifespan, liveliness_lease_durations

0846b9f

Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>

Configure liveliness

d408ac0

Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>

Add some basic debug text

4dd0ef0

Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>

Print the QoS settings to stdout when setting them up

148e261

Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>

Catch XmlRpc::XmlRpcExceptions when constructing QoS from parameters

6f13f2c

Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>

LoyVanBeek force-pushed the feature-parametrize-qos branch from fd9d12f to a7b4cb2 Compare October 18, 2021 14:52

Parse liveliness as either int enum value or upper/lower case string …

b777cbf

…representation of liveliness enum values Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>

LoyVanBeek force-pushed the feature-parametrize-qos branch from a7b4cb2 to b777cbf Compare October 18, 2021 14:55

Fix formatting with uncrustify

774330e

Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>

LoyVanBeek force-pushed the feature-parametrize-qos branch from fe2621d to 38d0538 Compare October 19, 2021 07:46

Fix cpplint formatting

4796dcf

In 2 cases the formatting conflicts with what uncrustify wants; // NOLINT got rid of the complaints of cpplint, favouring uncrustify Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>

LoyVanBeek force-pushed the feature-parametrize-qos branch from 38d0538 to 4796dcf Compare October 19, 2021 09:35

LoyVanBeek mentioned this pull request Oct 28, 2021

Feature parametrize qos mojin-robotics/ros1_bridge#1

Closed

clalancette requested a review from gbiggs November 18, 2021 16:32

clalancette assigned gbiggs Nov 18, 2021

gbiggs reviewed Nov 22, 2021

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gbiggs approved these changes Nov 22, 2021

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LoyVanBeek and others added 2 commits November 23, 2021 08:00

Clearer logging as suggested by code review

c078d34

Co-authored-by: Geoffrey Biggs <gbiggs@killbots.net> Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>

Clarify keep_last vs keep_all setting for history

ec44770

Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de>

LoyVanBeek force-pushed the feature-parametrize-qos branch from 015e284 to ec44770 Compare November 23, 2021 07:01

msmcconnell mentioned this pull request Mar 3, 2022

Combined branch usdot-fhwa-stol/ros1_bridge#1

Merged

gbiggs merged commit 9a8e764 into ros2:master Jun 22, 2022

methylDragon mentioned this pull request Jun 23, 2022

Add ros-ROS1_DISTRO-xmlrpcpp install ros2/ci#669

Closed

LoyVanBeek mentioned this pull request Jul 1, 2022

Add hardcoded QoS for the /tf_static topic for parameter bridge #304

Closed

gbiggs mentioned this pull request Jul 18, 2022

Move xmlrpcpp find_package so it only searches if ROS 1 is found #371

Merged

hsd-dev mentioned this pull request Mar 27, 2023

Implemented action bridge #256

Open

lucyannofrota mentioned this pull request May 4, 2023

Parametrization of parameter_bridge quality of service [Port of the commits (ec44770) and (86b4245) to foxy branch] #401

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