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Composition API #554

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Composition API #554

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crystaldust
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@crystaldust crystaldust commented Jul 14, 2020 •
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Make ros2cli able to handle Python components. The changes:

  • Add type rclpy_components
  • Get the components' metadata by py entry points, related repo: rcl_component_searchers.
  • For rclpy_components, use Python's entry_points API to get the metadata, while for rclcpp_components, use a general ament resource searcher, which can also be applied to other programming language implementations(just add an entry point item in the above project's setup.py)
  • When calling ros2 component list, add the component resource types(rclpy_components or rclcpp_components) to the output
  • Another related example project: rclpy_composition_example

@crystaldust
Add an abstract class ComponentSearcher.
c633cf7 
The concrete component searchers for different languages will be
provided in python entry points.
Basically there are two component types:
- Python entry point component, specific for python
- Ament resource component, more general for other languages.

Signed-off-by: Zhen Ju <[email protected]>
@crystaldust
Make component type a parametere in standalone verb
6a86297 
Update comments and licenses.

Signed-off-by: Zhen Ju <[email protected]>
@crystaldust crystaldust mentioned this pull request Jul 14, 2020
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@ivanpauno ivanpauno requested a review from jacobperron August 27, 2020 18:06
@jacobperron jacobperron removed their assignment Feb 26, 2021
@audrow audrow self-assigned this Feb 26, 2021
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audrow commented Feb 26, 2021

@crystaldust, any updates on this? I believe that this is waiting on changes to be made to ros2/rclpy#599, correct?

@crystaldust
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@audrow Yes, this feature depends on #554 on rclpy. I'll make sure 554 is first merged, and then let's consider this one.

@audrow audrow changed the base branch from master to rolling June 28, 2022 14:23
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