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Generate the launch file for the bridges separately
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+93
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4 files changed

+93
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‎plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/BridgesLaunchFileCompiler_ROS2.xtend

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package de.fraunhofer.ipa.rossystem.generator
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import system.System
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import com.google.inject.Inject
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class BridgesLaunchFileCompiler_ROS2 {
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@Inject extension GeneratorHelpers
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def compile_toROS2launchbridges(System system) '''
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import os
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration, PythonExpression, PathJoinSubstitution, TextSubstitution
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def generate_launch_description():
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ld = LaunchDescription()
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# *** ROS 1 to ROS 2 bridges ***
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«IF TopicBridgeGenerated(system) || ServiceFromBridgeGenerated(system)|| ServiceToBridgeGenerated(system) »
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«system.name»_ros1_bridge_config = os.path.join(
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get_package_share_directory('«system.getName().toLowerCase»'),
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'config',
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'ros1_bridges.yaml'
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)«ENDIF»«IF TopicBridgeGenerated(system)»
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ros1_topic_bridge_parameter_bridge = Node(
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package='ros1_bridge',
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executable='parameter_bridge',
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name='ros1_topic_bridge_parameter_bridge',
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namespace='bridge_«system.name»_topics',
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output='screen',
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parameters=[
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{'__ns': 'bridge_«system.name»_topics'},
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{'__name': 'bridge_«system.name»_topics'}
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],
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arguments=[
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'--ros-args', '-r', '__name:=bridge_«system.name»_topics'
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]
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)«ENDIF»«IF ServiceFromBridgeGenerated(system)»
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ros1_service_from_bridge_parameter_bridge = Node(
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package='ros1_bridge',
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executable='parameter_bridge',
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name='ros1_service_from_bridge_parameter_bridge',
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namespace='bridge_«system.name»_from_services',
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output='screen',
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parameters=[
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{'__ns': 'bridge_«system.name»_from_services'},
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{'__name': 'bridge_«system.name»_from_services'}
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],
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arguments=[
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'--ros-args', '-r', '__name:=bridge_«system.name»_from_services'
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]
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)«ENDIF»«IF ServiceToBridgeGenerated(system)»
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ros1_service_to_bridge_parameter_bridge = Node(
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package='ros1_bridge',
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executable='parameter_bridge',
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name='ros1_service_to_bridge_parameter_bridge',
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namespace='bridge_«system.name»_to_services',
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output='screen',
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parameters=[
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{'__ns': 'bridge_«system.name»_to_services'},
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{'__name': 'bridge_«system.name»_to_services'}
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],
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arguments=[
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'--ros-args', '-r', '__name:=bridge_«system.name»_to_services'
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]
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)«ENDIF»
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# *** Add actions ***
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«IF TopicBridgeGenerated(system)»
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ld.add_action(ros1_topic_bridge_parameter_bridge)
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«ENDIF»«IF ServiceFromBridgeGenerated(system)»
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ld.add_action(ros1_service_from_bridge_parameter_bridge)
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«ENDIF»«IF ServiceToBridgeGenerated(system)»
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ld.add_action(ros1_service_to_bridge_parameter_bridge)
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«ENDIF»
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return ld
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'''
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}

‎plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/GeneratorHelpers.xtend

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -69,9 +69,9 @@ class GeneratorHelpers {
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os_import=true
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}
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}
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if (TopicBridgeGenerated(rossystem) || ServiceFromBridgeGenerated(rossystem) || ServiceToBridgeGenerated(rossystem)){
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os_import=true
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}
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// if (TopicBridgeGenerated(rossystem) || ServiceFromBridgeGenerated(rossystem) || ServiceToBridgeGenerated(rossystem)){
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// os_import=true
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// }
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return os_import
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}
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‎plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/LaunchFileCompiler_ROS2.xtend

Lines changed: 2 additions & 58 deletions
Original file line numberDiff line numberDiff line change
@@ -83,70 +83,14 @@ def generate_launch_description():
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include_«subsystem.name»= IncludeLaunchDescription(
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PythonLaunchDescriptionSource([get_package_share_directory('«subsystem.fromFile.split("/",2).get(0)»') + '/«subsystem.fromFile.split("/",2).get(1)»'])
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)
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«ENDIF»
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# *** ROS 1 to ROS 2 bridges ***
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«ENDFOR»«IF TopicBridgeGenerated(system) || ServiceFromBridgeGenerated(system)|| ServiceToBridgeGenerated(system) »
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«system.name»_ros1_bridge_config = os.path.join(
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get_package_share_directory('«system.getName().toLowerCase»'),
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'config',
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'ros1_bridges.yaml'
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)«ENDIF»«IF TopicBridgeGenerated(system)»
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ros1_topic_bridge_parameter_bridge = Node(
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package='ros1_bridge',
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executable='parameter_bridge',
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name='ros1_topic_bridge_parameter_bridge',
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namespace='bridge_«system.name»_topics',
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output='screen',
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parameters=[
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{'__ns': 'bridge_«system.name»_topics'},
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{'__name': 'bridge_«system.name»_topics'}
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],
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arguments=[
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'--ros-args', '-r', '__name:=bridge_«system.name»_topics'
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]
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)«ENDIF»«IF ServiceFromBridgeGenerated(system)»
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ros1_service_from_bridge_parameter_bridge = Node(
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package='ros1_bridge',
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executable='parameter_bridge',
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name='ros1_service_from_bridge_parameter_bridge',
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namespace='bridge_«system.name»_from_services',
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output='screen',
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parameters=[
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{'__ns': 'bridge_«system.name»_from_services'},
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{'__name': 'bridge_«system.name»_from_services'}
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],
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arguments=[
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'--ros-args', '-r', '__name:=bridge_«system.name»_from_services'
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]
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)«ENDIF»«IF ServiceToBridgeGenerated(system)»
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ros1_service_to_bridge_parameter_bridge = Node(
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package='ros1_bridge',
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executable='parameter_bridge',
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name='ros1_service_to_bridge_parameter_bridge',
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namespace='bridge_«system.name»_to_services',
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output='screen',
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parameters=[
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{'__ns': 'bridge_«system.name»_to_services'},
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{'__name': 'bridge_«system.name»_to_services'}
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],
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arguments=[
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'--ros-args', '-r', '__name:=bridge_«system.name»_to_services'
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]
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)«ENDIF»
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«ENDIF»«ENDFOR»
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# *** Add actions ***
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«FOR component:getRos2Nodes(system)»
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ld.add_action(«(component as RosNode).name»)
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«ENDFOR»«FOR subsystem:getSubsystems(system)»
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ld.add_action(include_«subsystem.name»)
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«ENDFOR»«IF TopicBridgeGenerated(system)»
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ld.add_action(ros1_topic_bridge_parameter_bridge)
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«ENDIF»«IF ServiceFromBridgeGenerated(system)»
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ld.add_action(ros1_service_from_bridge_parameter_bridge)
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«ENDIF»«IF ServiceToBridgeGenerated(system)»
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ld.add_action(ros1_service_to_bridge_parameter_bridge)
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«ENDIF»
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«ENDFOR»
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return ld
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'''

‎plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/RosSystemGenerator.xtend

Lines changed: 5 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -26,6 +26,7 @@ class RosSystemGenerator extends AbstractGenerator {
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@Inject extension PlantUMLCompiler
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@Inject extension GeneratorHelpers
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@Inject extension Ros1BridgesYamlFileCompiler
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@Inject extension BridgesLaunchFileCompiler_ROS2
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override void doGenerate(Resource resource, IFileSystemAccess2 fsa, IGeneratorContext context) {
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var yaml_gen = false
@@ -79,6 +80,10 @@ class RosSystemGenerator extends AbstractGenerator {
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system.getName().toLowerCase+"/config/"+"ros1_bridges.yaml",
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compile_ROS1bridges_config(system)
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)
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fsa.generateFile(
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system.getName().toLowerCase+"/launch/"+system.getName()+"_bridges.launch.py",
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compile_toROS2launchbridges(system).toString().replace("\t"," ")
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)
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}
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}
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}

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