Merge pull request #8 from clearpathrobotics/dependency_rework

Dependency rework

clearpath_generator_robot/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(clearpath_generator_robot)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+
+install(PROGRAMS
+  ${PROJECT_NAME}/launch/generate_launch
+  ${PROJECT_NAME}/param/generate_param
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_python_install_package(${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

clearpath_generator_robot/clearpath_generator_robot/launch/__init__.py

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+# Software License Agreement (BSD)
+#
+# @author    Roni Kreinin <[email protected]>
+# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, is not permitted without the express permission
+# of Clearpath Robotics.

clearpath_generator_robot/clearpath_generator_robot/launch/generate_launch

@@ -0,0 +1,46 @@
+#!/usr/bin/env python3
+
+# Software License Agreement (BSD)
+#
+# @author    Roni Kreinin <[email protected]>
+# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, is not permitted without the express permission
+# of Clearpath Robotics.
+
+from clearpath_generator_common.common import BaseGenerator
+from clearpath_generator_robot.launch.generator import RobotLaunchGenerator
+
+
+def main():
+    setup_path = BaseGenerator.get_args()
+    rlg = RobotLaunchGenerator(setup_path)
+    rlg.generate()
+
+
+if __name__ == '__main__':
+    main()

clearpath_generator_robot/clearpath_generator_robot/launch/generator.py

@@ -0,0 +1,125 @@
+#!/usr/bin/env python3
+
+# Software License Agreement (BSD)
+#
+# @author    Roni Kreinin <[email protected]>
+# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, is not permitted without the express permission
+# of Clearpath Robotics.
+
+from clearpath_generator_common.common import LaunchFile, Package
+from clearpath_generator_common.launch.writer import LaunchWriter
+from clearpath_generator_common.launch.generator import LaunchGenerator
+from clearpath_generator_robot.launch.sensors import SensorLaunch
+
+from clearpath_config.platform.platform import Platform
+
+import os
+
+
+class RobotLaunchGenerator(LaunchGenerator):
+    def generate_sensors(self) -> None:
+        sensors_service_launch_writer = LaunchWriter(self.sensors_service_launch_file)
+        sensors = self.clearpath_config.sensors.get_all_sensors()
+
+        for sensor in sensors:
+            if sensor.get_launch_enabled():
+                sensor_launch = SensorLaunch(
+                        sensor,
+                        self.sensors_launch_path,
+                        self.sensors_params_path)
+                sensor_writer = LaunchWriter(sensor_launch.get_launch_file())
+                # Add default sensor launch file
+                sensor_writer.add_launch_file(sensor_launch.get_default_launch_file())
+                # Generate sensor launch file
+                sensor_writer.generate_file()
+                # Add sensor to top level sensors launch file
+                sensors_service_launch_writer.add_launch_file(sensor_launch.get_launch_file())
+
+        sensors_service_launch_writer.generate_file()
+
+    def generate_platform(self) -> None:
+        platform_service_launch_writer = LaunchWriter(self.platform_service_launch_file)
+        platform_service_launch_writer.add_launch_file(self.platform_launch_file)
+
+        if self.platform_model == Platform.J100:
+            # Add micro ros agent
+            uros_node = LaunchFile.Node(
+                name='micro_ros_agent',
+                package='micro_ros_agent',
+                executable='micro_ros_agent',
+                arguments=[
+                    'serial', '--dev', '/dev/clearpath/j100'
+                ])
+            platform_service_launch_writer.add_node(uros_node)
+
+            # Set domain ID on MCU
+            set_domain_id = LaunchFile.Process(
+                name='set_domain_id',
+                cmd=[
+                    ['\'export ROS_DOMAIN_ID=0;\''],
+                    ['FindExecutable(name=\'ros2\')',
+                     '\' service call platform/mcu/set_domain_id \'',
+                     '\' clearpath_platform_msgs/srv/SetDomainId \'',
+                     '\'"domain_id: \'',
+                     'EnvironmentVariable(\'ROS_DOMAIN_ID\', default_value=\'0\')',
+                     '\'"\'']
+                ])
+            platform_service_launch_writer.add_process(set_domain_id)
+
+            # IMU filter
+            imu_filter_config = LaunchFile.LaunchArg(
+                'imu_filter',
+                default_value=os.path.join(self.platform_params_path, 'imu_filter.yaml')
+            )
+            platform_service_launch_writer.declare_launch_arg(imu_filter_config)
+
+            imu_filter_node = LaunchFile.Node(
+                package='imu_filter_madgwick',
+                executable='imu_filter_madgwick_node',
+                name='imu_filter_node',
+                parameters=['imu_filter'],
+                remappings=[
+                  ('\'imu/data_raw\'', '\'platform/sensors/imu_0/data_raw\''),
+                  ('\'imu/mag\'', '\'platform/sensors/imu_0/magnetic_field\''),
+                  ('\'imu/data\'', '\'platform/sensors/imu_0/data\'')
+                ],
+            )
+            platform_service_launch_writer.add_node(imu_filter_node)
+
+            # Wireless watcher
+            wireless_watcher_launch = LaunchFile(
+                name='watcher',
+                package=Package('wireless_watcher'),
+                args={
+                    'connected_topic': 'platform/wifi_connected'
+                }
+            )
+            platform_service_launch_writer.add_launch_file(wireless_watcher_launch)
+
+        platform_service_launch_writer.generate_file()

clearpath_generator_robot/clearpath_generator_robot/launch/sensors.py

@@ -0,0 +1,107 @@
+# Software License Agreement (BSD)
+#
+# @author    Roni Kreinin <[email protected]>
+# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, is not permitted without the express permission
+# of Clearpath Robotics.
+
+from clearpath_config.sensors.base import BaseSensor
+from clearpath_config.sensors.lidars_2d import BaseLidar2D, HokuyoUST10, SickLMS1XX
+from clearpath_config.sensors.lidars_3d import BaseLidar3D, VelodyneLidar
+from clearpath_config.sensors.cameras import BaseCamera, IntelRealsense
+from clearpath_config.sensors.imu import BaseIMU, Microstrain
+from clearpath_config.sensors.gps import BaseGPS, SwiftNavDuro
+
+from clearpath_generator_common.common import LaunchFile, Package, ParamFile
+
+
+class SensorLaunch():
+    class BaseLaunch():
+        CLEARPATH_SENSORS = 'clearpath_sensors'
+        TOPIC_NAMESPACE = 'platform/sensors/'
+
+        # Launch arguments
+        PARAMETERS = 'parameters'
+        NAMESPACE = 'namespace'
+
+        def __init__(self, sensor: BaseSensor,
+                     launch_path: str,
+                     param_path: str) -> None:
+            self.sensor = sensor
+            self.parameters = ParamFile(self.get_name(), path=param_path)
+            # Defaults
+            self.default_sensor_package = Package(self.CLEARPATH_SENSORS)
+
+            # Generated
+            self.sensor_launch_file = LaunchFile(
+                self.get_name(),
+                path=launch_path)
+
+            self.launch_args = {
+                self.PARAMETERS: self.parameters.get_full_path(),
+                self.NAMESPACE: self.get_namespace()
+            }
+
+            # Set launch args for default launch file
+            self.default_sensor_launch_file = LaunchFile(
+                self.get_model(),
+                package=self.default_sensor_package,
+                args=self.launch_args)
+
+        def get_launch_file(self) -> LaunchFile:
+            return self.sensor_launch_file
+
+        def get_default_launch_file(self) -> LaunchFile:
+            return self.default_sensor_launch_file
+
+        def get_name(self) -> str:
+            return self.sensor.get_name()
+
+        def get_model(self) -> str:
+            return self.sensor.SENSOR_MODEL
+
+        def get_default_sensor_package(self) -> str:
+            return self.default_sensor_package
+
+        def get_launch_args(self) -> dict:
+            return self.launch_args
+
+        def get_namespace(self) -> str:
+            return self.TOPIC_NAMESPACE + self.sensor.get_name()
+
+    MODEL = {
+        HokuyoUST10.SENSOR_MODEL: BaseLaunch,
+        SickLMS1XX.SENSOR_MODEL: BaseLaunch,
+        IntelRealsense.SENSOR_MODEL: BaseLaunch,
+        Microstrain.SENSOR_MODEL: BaseLaunch,
+        VelodyneLidar.SENSOR_MODEL: BaseLaunch,
+        SwiftNavDuro.SENSOR_MODEL: BaseLaunch
+    }
+
+    def __new__(cls, sensor: BaseSensor, launch_path: str, param_path: str) -> BaseLaunch:
+        return SensorLaunch.MODEL[sensor.SENSOR_MODEL](sensor, launch_path, param_path)

clearpath_generator_robot/clearpath_generator_robot/param/generate_param

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+#!/usr/bin/env python3
+
+# Software License Agreement (BSD)
+#
+# @author    Roni Kreinin <[email protected]>
+# @copyright (c) 2023, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+# Redistribution and use in source and binary forms, with or without
+# modification, is not permitted without the express permission
+# of Clearpath Robotics.
+
+from clearpath_generator_common.common import BaseGenerator
+from clearpath_generator_robot.param.generator import RobotParamGenerator
+
+
+def main():
+    setup_path = BaseGenerator.get_args()
+    rpg = RobotParamGenerator(setup_path)
+    rpg.generate()
+
+
+if __name__ == '__main__':
+    main()