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add ros2 lifecycle#97

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dirk-thomas merged 2 commits intomasterfrom
ros2lifecycle
Jun 12, 2018
Merged

add ros2 lifecycle#97
dirk-thomas merged 2 commits intomasterfrom
ros2lifecycle

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@dirk-thomas dirk-thomas commented Jun 11, 2018 •
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Adding ros2 lifecycle with the following verbs: get, list, set.

Requires ros2/rosidl#281.

@dirk-thomas dirk-thomas added enhancement New feature or request in review Waiting for review (Kanban column) labels Jun 11, 2018
@dirk-thomas dirk-thomas self-assigned this Jun 11, 2018
wjwwood
wjwwood approved these changes Jun 11, 2018
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code changes lgtm, I didn't try it on the console though, but I'm ok to merge it and cover that during testing (I assume you tested it anyways).

@dirk-thomas dirk-thomas merged commit 529ee58 into master Jun 12, 2018
@dirk-thomas dirk-thomas deleted the ros2lifecycle branch June 12, 2018 01:07
@wjwwood wjwwood removed the in review Waiting for review (Kanban column) label Jun 12, 2018
@mikaelarguedas
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mikaelarguedas commented Jun 12, 2018

Flake8 failures addressed in 606e49c

@dirk-thomas dirk-thomas mentioned this pull request Jun 19, 2018
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wjwwood commented Jul 27, 2018

Retroactive summary for this feature:

add ros2 lifecycle

Purpose / Use Cases (Why implement this feature?)

This was implemented to provide a way to control and introspect "lifecycle" ROS nodes from the command line.

Design (How does it work?)

It provides a new "command" to the ros2 command line tool call lifecycle which in turn has several verbs for interacting with or introspecting ROS lifecycle nodes.

Inputs / Outputs / API (How to use it?)

The usage of the tool is documented in the help text with ros2 lifecycle -h.

There is a "public" API which implements the actions the tool can take (used internally by the tool) but which is not currently documented, see:

ros2cli/ros2lifecycle/ros2lifecycle/api/__init__.py

Lines 1 to 169 in 211fc16

# Copyright 2018 Open Source Robotics Foundation, Inc.
#
# 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.
from lifecycle_msgs.srv import ChangeState
from lifecycle_msgs.srv import GetAvailableTransitions
from lifecycle_msgs.srv import GetState
import rclpy
from ros2node.api import get_node_names as get_all_node_names
from ros2service.api import get_service_names_and_types
def get_node_names(*, node, include_hidden_nodes=False):
node_names = get_all_node_names(
node=node, include_hidden_nodes=include_hidden_nodes)
service_names_and_types = get_service_names_and_types(node=node)
return [
n for n in node_names
if _has_lifecycle(n, service_names_and_types)]
def _has_lifecycle(node_name, service_names_and_types):
for (service_name, service_types) in service_names_and_types:
if (
service_name == '/{node_name}/get_state'.format_map(locals()) and
'lifecycle_msgs/GetState' in service_types
):
return True
return False
def call_get_states(*, node, node_names):
clients = {}
futures = {}
# create clients
for node_name in node_names:
client = node.create_client(
GetState,
'/{node_name}/get_state'.format_map(locals()))
clients[node_name] = client
# wait until all clients have been called
while True:
for node_name in [n for n in node_names if n not in futures]:
# call as soon as ready
client = clients[node_name]
if client.service_is_ready():
request = GetState.Request()
request.node_name = node_name
future = client.call_async(request)
futures[node_name] = future
if len(futures) == len(clients):
break
rclpy.spin_once(node, timeout_sec=1.0)
# wait for all responses
for future in futures.values():
rclpy.spin_until_future_complete(node, future)
# return current state or exception for each node
states = {}
for node_name, future in futures.items():
if future.result() is not None:
response = future.result()
states[node_name] = response.current_state
else:
states[node_name] = future.exception()
return states
def call_get_available_transitions(*, node, states):
clients = {}
futures = {}
# create clients
for node_name in states.keys():
client = node.create_client(
GetAvailableTransitions,
'/{node_name}/get_available_transitions'.format_map(locals()))
clients[node_name] = client
# wait until all clients have been called
while True:
for node_name in [n for n in states.keys() if n not in futures]:
# call as soon as ready
client = clients[node_name]
if client.service_is_ready():
request = GetAvailableTransitions.Request()
request.node_name = node_name
future = client.call_async(request)
futures[node_name] = future
if len(futures) == len(clients):
break
rclpy.spin_once(node, timeout_sec=1.0)
# wait for all responses
for future in futures.values():
rclpy.spin_until_future_complete(node, future)
# return transitions from current state or exception for each node
transitions = {}
for node_name, future in futures.items():
if future.result() is not None:
response = future.result()
transitions[node_name] = []
for transition_description in response.available_transitions:
if (
states[node_name] is None or
transition_description.start_state == states[node_name]
):
transitions[node_name].append(
transition_description.transition)
else:
transitions[node_name] = future.exception()
return transitions
def call_change_states(*, node, transitions):
clients = {}
futures = {}
# create clients
for node_name in transitions.keys():
client = node.create_client(
ChangeState,
'/{node_name}/change_state'.format_map(locals()))
clients[node_name] = client
# wait until all clients have been called
while True:
for node_name in [n for n in transitions.keys() if n not in futures]:
# call as soon as ready
client = clients[node_name]
if client.service_is_ready():
request = ChangeState.Request()
request.node_name = node_name
request.transition = transitions[node_name]
future = client.call_async(request)
futures[node_name] = future
if len(futures) == len(clients):
break
rclpy.spin_once(node, timeout_sec=1.0)
# wait for all responses
for future in futures.values():
rclpy.spin_until_future_complete(node, future)
# return success flag or exception for each node
results = {}
for node_name, future in futures.items():
if future.result() is not None:
response = future.result()
results[node_name] = response.success
else:
results[node_name] = future.exception()
return results

esteve pushed a commit to esteve/ros2cli that referenced this pull request Dec 16, 2022
@jacobperron
Fix launch_testing_ros example (ros2#121)
93b242c 
The example should not be using the underlying launch_ros ROS context or ROS node since it is an
implementation detail. Instead, the example initailizes it's own context and ROS node.

Fixes ros2#97.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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