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Refactor spawner to be able to reuse code for ros2controlcli (backport
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…ros-controls#1661) (ros-controls#1695)

* Refactor spawner to be able to reuse code for ros2controlcli (ros-controls#1661)

(cherry picked from commit 0631e3e)

# Conflicts:
#	controller_manager/controller_manager/spawner.py
#	controller_manager/test/test_spawner_unspawner.cpp

* [Humble] Fix conflicts of 1661 backport (ros-controls#1735)

* Fix conflicts

* added controller_type parameter setting to the spawner

---------

Co-authored-by: Sai Kishor Kothakota <[email protected]>
Co-authored-by: Christoph Fröhlich <[email protected]>
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3 people authored Oct 13, 2024
1 parent 4ed2ee0 commit cd55739
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Showing 7 changed files with 134 additions and 122 deletions.
8 changes: 8 additions & 0 deletions controller_manager/controller_manager/__init__.py
Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,10 @@
set_hardware_component_state,
switch_controllers,
unload_controller,
get_parameter_from_param_file,
set_controller_parameters,
set_controller_parameters_from_param_file,
bcolors,
)

__all__ = [
Expand All @@ -36,4 +40,8 @@
"set_hardware_component_state",
"switch_controllers",
"unload_controller",
"get_parameter_from_param_file",
"set_controller_parameters",
"set_controller_parameters_from_param_file",
"bcolors",
]
104 changes: 104 additions & 0 deletions controller_manager/controller_manager/controller_manager_services.py
Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,29 @@
)

import rclpy
import yaml
from rcl_interfaces.msg import Parameter

# @note: The versions conditioning is added here to support the source-compatibility with Humble
# The `get_parameter_value` function is moved to `rclpy.parameter` module from `ros2param.api` module from version 3.6.0
try:
from rclpy.parameter import get_parameter_value
except ImportError:
from ros2param.api import get_parameter_value
from ros2param.api import call_set_parameters


# from https://stackoverflow.com/a/287944
class bcolors:
MAGENTA = "\033[95m"
OKBLUE = "\033[94m"
OKCYAN = "\033[96m"
OKGREEN = "\033[92m"
WARNING = "\033[93m"
FAIL = "\033[91m"
ENDC = "\033[0m"
BOLD = "\033[1m"
UNDERLINE = "\033[4m"


class ServiceNotFoundError(Exception):
Expand Down Expand Up @@ -219,3 +242,84 @@ def unload_controller(node, controller_manager_name, controller_name, service_ti
request,
service_timeout,
)


def get_parameter_from_param_file(controller_name, namespace, parameter_file, parameter_name):
with open(parameter_file) as f:
namespaced_controller = (
controller_name if namespace == "/" else f"{namespace}/{controller_name}"
)
parameters = yaml.safe_load(f)
if namespaced_controller in parameters:
value = parameters[namespaced_controller]
if not isinstance(value, dict) or "ros__parameters" not in value:
raise RuntimeError(
f"YAML file : {parameter_file} is not a valid ROS parameter file for controller : {namespaced_controller}"
)
if parameter_name in parameters[namespaced_controller]["ros__parameters"]:
return parameters[namespaced_controller]["ros__parameters"][parameter_name]
else:
return None
else:
return None


def set_controller_parameters(
node, controller_manager_name, controller_name, parameter_name, parameter_value
):
parameter = Parameter()
parameter.name = controller_name + "." + parameter_name
parameter_string = str(parameter_value)
parameter.value = get_parameter_value(string_value=parameter_string)

response = call_set_parameters(
node=node, node_name=controller_manager_name, parameters=[parameter]
)
assert len(response.results) == 1
result = response.results[0]
if result.successful:
node.get_logger().info(
bcolors.OKCYAN
+ 'Setting controller param "'
+ parameter_name
+ '" to "'
+ parameter_string
+ '" for '
+ bcolors.BOLD
+ controller_name
+ bcolors.ENDC
)
else:
node.get_logger().fatal(
bcolors.FAIL
+ 'Could not set controller param "'
+ parameter_name
+ '" to "'
+ parameter_string
+ '" for '
+ bcolors.BOLD
+ controller_name
+ bcolors.ENDC
)
return False
return True


def set_controller_parameters_from_param_file(
node, controller_manager_name, controller_name, parameter_file, namespace=None
):
if parameter_file:
spawner_namespace = namespace if namespace else node.get_namespace()
set_controller_parameters(
node, controller_manager_name, controller_name, "param_file", parameter_file
)

controller_type = get_parameter_from_param_file(
controller_name, spawner_namespace, parameter_file, "type"
)
if controller_type:
if not set_controller_parameters(
node, controller_manager_name, controller_name, "type", controller_type
):
return False
return True
14 changes: 1 addition & 13 deletions controller_manager/controller_manager/hardware_spawner.py
Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
from controller_manager import (
list_hardware_components,
set_hardware_component_state,
bcolors,
)
from controller_manager.controller_manager_services import ServiceNotFoundError

Expand All @@ -28,19 +29,6 @@
from rclpy.signals import SignalHandlerOptions


# from https://stackoverflow.com/a/287944
class bcolors:
HEADER = "\033[95m"
OKBLUE = "\033[94m"
OKCYAN = "\033[96m"
OKGREEN = "\033[92m"
WARNING = "\033[93m"
FAIL = "\033[91m"
ENDC = "\033[0m"
BOLD = "\033[1m"
UNDERLINE = "\033[4m"


def first_match(iterable, predicate):
return next((n for n in iterable if predicate(n)), None)

Expand Down
121 changes: 18 additions & 103 deletions controller_manager/controller_manager/spawner.py
Original file line number Diff line number Diff line change
Expand Up @@ -19,37 +19,22 @@
import sys
import time
import warnings
import yaml

from controller_manager import (
configure_controller,
list_controllers,
load_controller,
switch_controllers,
unload_controller,
set_controller_parameters,
set_controller_parameters_from_param_file,
bcolors,
)
from controller_manager.controller_manager_services import ServiceNotFoundError

import rclpy
from rcl_interfaces.msg import Parameter
from rclpy.node import Node
from rclpy.signals import SignalHandlerOptions
from ros2param.api import call_set_parameters
from ros2param.api import get_parameter_value

# from https://stackoverflow.com/a/287944


class bcolors:
MAGENTA = "\033[95m"
OKBLUE = "\033[94m"
OKCYAN = "\033[96m"
OKGREEN = "\033[92m"
WARNING = "\033[93m"
FAIL = "\033[91m"
ENDC = "\033[0m"
BOLD = "\033[1m"
UNDERLINE = "\033[4m"


def first_match(iterable, predicate):
Expand Down Expand Up @@ -81,24 +66,6 @@ def is_controller_loaded(node, controller_manager, controller_name, service_time
return any(c.name == controller_name for c in controllers)


def get_parameter_from_param_file(controller_name, namespace, parameter_file, parameter_name):
with open(parameter_file) as f:
namespaced_controller = (
controller_name if namespace == "/" else f"{namespace}/{controller_name}"
)
parameters = yaml.safe_load(f)
if namespaced_controller in parameters:
value = parameters[namespaced_controller]
if not isinstance(value, dict) or "ros__parameters" not in value:
raise RuntimeError(
f"YAML file : {parameter_file} is not a valid ROS parameter file for controller : {namespaced_controller}"
)
if parameter_name in parameters[namespaced_controller]["ros__parameters"]:
return parameters[namespaced_controller]["ros__parameters"][parameter_name]
else:
return None


def main(args=None):

rclpy.init(args=args, signal_handler_options=SignalHandlerOptions.NO)
Expand Down Expand Up @@ -206,75 +173,23 @@ def main(args=None):
+ bcolors.ENDC
)
else:
controller_type = (
args.controller_type
if param_file is None
else get_parameter_from_param_file(
controller_name, spawner_namespace, param_file, "type"
)
)
if controller_type:
parameter = Parameter()
parameter.name = controller_name + ".type"
parameter.value = get_parameter_value(string_value=controller_type)

response = call_set_parameters(
node=node, node_name=controller_manager_name, parameters=[parameter]
)
assert len(response.results) == 1
result = response.results[0]
if result.successful:
node.get_logger().info(
bcolors.OKCYAN
+ 'Set controller type to "'
+ controller_type
+ '" for '
+ bcolors.BOLD
+ controller_name
+ bcolors.ENDC
)
else:
node.get_logger().fatal(
bcolors.FAIL
+ 'Could not set controller type to "'
+ controller_type
+ '" for '
+ bcolors.BOLD
+ controller_name
+ bcolors.ENDC
)
if args.controller_type:
if not set_controller_parameters(
node,
controller_manager_name,
controller_name,
"type",
args.controller_type,
):
return 1

if param_file:
parameter = Parameter()
parameter.name = controller_name + ".params_file"
parameter.value = get_parameter_value(string_value=param_file)

response = call_set_parameters(
node=node, node_name=controller_manager_name, parameters=[parameter]
)
assert len(response.results) == 1
result = response.results[0]
if result.successful:
node.get_logger().info(
bcolors.OKCYAN
+ 'Set controller params file to "'
+ param_file
+ '" for '
+ bcolors.BOLD
+ controller_name
+ bcolors.ENDC
)
else:
node.get_logger().fatal(
bcolors.FAIL
+ 'Could not set controller params file to "'
+ param_file
+ '" for '
+ bcolors.BOLD
+ controller_name
+ bcolors.ENDC
)
if not set_controller_parameters_from_param_file(
node,
controller_manager_name,
controller_name,
param_file,
spawner_namespace,
):
return 1

ret = load_controller(node, controller_manager_name, controller_name)
Expand Down
3 changes: 1 addition & 2 deletions ros2controlcli/ros2controlcli/verb/list_controllers.py
Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,7 @@
# See the License for the specific language governing permissions and
# limitations under the License.

from controller_manager import list_controllers
from controller_manager.spawner import bcolors
from controller_manager import list_controllers, bcolors

from ros2cli.node.direct import add_arguments
from ros2cli.node.strategy import NodeStrategy
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,7 @@
# See the License for the specific language governing permissions and
# limitations under the License.

from controller_manager import list_hardware_components
from controller_manager.spawner import bcolors
from controller_manager import list_hardware_components, bcolors

from lifecycle_msgs.msg import State

Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,7 @@
# See the License for the specific language governing permissions and
# limitations under the License.

from controller_manager import list_hardware_interfaces
from controller_manager.spawner import bcolors
from controller_manager import list_hardware_interfaces, bcolors

from ros2cli.node.direct import add_arguments
from ros2cli.node.strategy import NodeStrategy
Expand Down

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