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add_library(srdf_publisher_node SHARED src/srdf_publisher_node.cpp) | ||
ament_target_dependencies(srdf_publisher_node PUBLIC | ||
std_msgs | ||
rclcpp | ||
rclcpp_components | ||
) | ||
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if(BUILD_TESTING) | ||
find_package(launch_testing_ament_cmake) | ||
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add_launch_test(test/srdf_publisher_test.py | ||
TARGET test-srdf_publisher | ||
) | ||
endif() |
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82
moveit_ros/planning/srdf_publisher_node/src/srdf_publisher_node.cpp
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/********************************************************************* | ||
* Software License Agreement (BSD License) | ||
* | ||
* Copyright (c) 2024, PickNik 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 PickNik Robotics Inc. 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 OWNER 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. | ||
*********************************************************************/ | ||
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/* Author: Tyler Weaver */ | ||
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#include <rclcpp/rclcpp.hpp> | ||
#include <std_msgs/msg/string.hpp> | ||
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#include <string> | ||
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namespace moveit_ros_planning | ||
{ | ||
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class SrdfPublisher : public rclcpp::Node | ||
{ | ||
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr srdf_publisher_; | ||
rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr on_set_parameters_handle_; | ||
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public: | ||
SrdfPublisher(const rclcpp::NodeOptions& options) : rclcpp::Node("srdf_publisher", options) | ||
{ | ||
srdf_publisher_ = this->create_publisher<std_msgs::msg::String>("robot_description_semantic", | ||
rclcpp::QoS(1).transient_local().reliable()); | ||
on_set_parameters_handle_ = | ||
this->add_on_set_parameters_callback([this](const std::vector<rclcpp::Parameter>& parameters) { | ||
for (auto const& parameter : parameters) | ||
{ | ||
if (parameter.get_name() == "robot_description_semantic") | ||
{ | ||
std_msgs::msg::String msg; | ||
msg.data = parameter.get_value<std::string>(); | ||
srdf_publisher_->publish(msg); | ||
} | ||
} | ||
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rcl_interfaces::msg::SetParametersResult result; | ||
result.successful = true; | ||
return result; | ||
}); | ||
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rcl_interfaces::msg::ParameterDescriptor descriptor; | ||
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING; | ||
descriptor.description = "Semantic Robot Description Format"; | ||
this->declare_parameter("robot_description_semantic", rclcpp::ParameterType::PARAMETER_STRING, descriptor); | ||
} | ||
}; | ||
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} // namespace moveit_ros_planning | ||
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#include "rclcpp_components/register_node_macro.hpp" | ||
RCLCPP_COMPONENTS_REGISTER_NODE(moveit_ros_planning::SrdfPublisher) |
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125
moveit_ros/planning/srdf_publisher_node/test/srdf_publisher_test.py
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# Software License Agreement (BSD License) | ||
# | ||
# Copyright (c) 2024, PickNik 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 Willow Garage 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 OWNER 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. | ||
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# Author: Tyler Weaver | ||
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import unittest | ||
from threading import Event | ||
from threading import Thread | ||
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import launch | ||
import launch_ros | ||
import launch_testing | ||
import rclpy | ||
from rclpy.node import Node | ||
from rclpy.qos import ( | ||
QoSProfile, | ||
QoSReliabilityPolicy, | ||
QoSDurabilityPolicy, | ||
) | ||
from std_msgs.msg import String | ||
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import pytest | ||
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@pytest.mark.launch_test | ||
def generate_test_description(): | ||
# dut: device under test | ||
srdf_publisher = launch_ros.actions.Node( | ||
package="moveit_ros_planning", | ||
parameters=[{"robot_description_semantic": "test value"}], | ||
executable="srdf_publisher", | ||
output="screen", | ||
) | ||
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return launch.LaunchDescription( | ||
[ | ||
srdf_publisher, | ||
# Start tests right away - no need to wait for anything | ||
launch_testing.actions.ReadyToTest(), | ||
] | ||
), {"srdf_publisher": srdf_publisher} | ||
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class SrdfObserverNode(Node): | ||
def __init__(self, name="srdf_observer_node"): | ||
super().__init__(name) | ||
self.msg_event_object = Event() | ||
self.srdf = "" | ||
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def start_subscriber(self): | ||
# Create a subscriber | ||
self.subscription = self.create_subscription( | ||
String, | ||
"robot_description_semantic", | ||
self.subscriber_callback, | ||
qos_profile=QoSProfile( | ||
reliability=QoSReliabilityPolicy.RELIABLE, | ||
durability=QoSDurabilityPolicy.TRANSIENT_LOCAL, | ||
depth=1, | ||
), | ||
) | ||
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# Add a spin thread | ||
self.ros_spin_thread = Thread( | ||
target=lambda node: rclpy.spin(node), args=(self,) | ||
) | ||
self.ros_spin_thread.start() | ||
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def subscriber_callback(self, msg): | ||
self.srdf = msg.data | ||
self.msg_event_object.set() | ||
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# These tests will run concurrently with the dut process. After all these tests are done, | ||
# the launch system will shut down the processes that it started up | ||
class TestFixture(unittest.TestCase): | ||
def test_rosout_msgs_published(self, proc_output): | ||
rclpy.init() | ||
try: | ||
node = SrdfObserverNode() | ||
node.start_subscriber() | ||
msgs_received_flag = node.msg_event_object.wait(timeout=5.0) | ||
assert ( | ||
msgs_received_flag | ||
), "Did not receive message on `/robot_description_semantic`!" | ||
assert node.srdf == "test value" | ||
finally: | ||
rclpy.shutdown() | ||
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@launch_testing.post_shutdown_test() | ||
class TestProcessOutput(unittest.TestCase): | ||
def test_exit_code(self, proc_info): | ||
# Check that all processes in the launch (in this case, there's just one) exit | ||
# with code 0 | ||
launch_testing.asserts.assertExitCodes(proc_info) |