Draft: Namespace Support

README.md

@@ -15,7 +15,7 @@ Required dependencies:
 2. ROS 2 dev tools:
     - [colcon-common-extensions](https://pypi.org/project/colcon-common-extensions/)
     - [rosdep](https://pypi.org/project/rosdep/): Used to install dependencies when building from sources
-    - [vcs](https://pypi.org/project/vcstool/): Automates cloning of git repositories declared on a YAML file.
+    - [vcs](https://pypi.org/project/vcstool/): Automates cloning of git repositories declared on a YAML file
 
 Besides the aforementioned dependencies you will also need at least one among Ignition Gazebo and Classic Gazebo
 

irobot_create_common/irobot_create_common_bringup/CMakeLists.txt

@@ -11,6 +11,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
 
 install(
   DIRECTORY
@@ -21,6 +22,9 @@ install(
     share/${PROJECT_NAME}
 )
 
+# Install Python modules
+ament_python_install_package(${PROJECT_NAME})
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()

irobot_create_common/irobot_create_common_bringup/config/hazard_vector_params.yaml

@@ -1,19 +1,20 @@
 ---
-hazards_vector_publisher:
-  ros__parameters:
-    # Hazard detection publisher topic
-    publisher_topic: /hazard_detection
-    publish_rate: 62.0
-    subscription_topics:
-      # Bumper topic
-      - _internal/bumper/event
-      # Cliff topics
-      - _internal/cliff_front_left/event
-      - _internal/cliff_front_right/event
-      - _internal/cliff_side_left/event
-      - _internal/cliff_side_right/event
-      # Wheel drop topics
-      - _internal/wheel_drop/left_wheel/event
-      - _internal/wheel_drop/right_wheel/event
-      # Backup limit topic
-      - _internal/backup_limit
+/**:
+  hazards_vector_publisher:
+    ros__parameters:
+      # Hazard detection publisher topic
+      publisher_topic: hazard_detection
+      publish_rate: 62.0
+      subscription_topics:
+        # Bumper topic
+        - _internal/bumper/event
+        # Cliff topics
+        - _internal/cliff_front_left/event
+        - _internal/cliff_front_right/event
+        - _internal/cliff_side_left/event
+        - _internal/cliff_side_right/event
+        # Wheel drop topics
+        - _internal/wheel_drop/left_wheel/event
+        - _internal/wheel_drop/right_wheel/event
+        # Backup limit topic
+        - _internal/backup_limit

irobot_create_common/irobot_create_common_bringup/config/ir_intensity_vector_params.yaml

@@ -1,15 +1,16 @@
 ---
-ir_intensity_vector_publisher:
-  ros__parameters:
-    # IR intensity publisher topic
-    publisher_topic: /ir_intensity
-    publish_rate: 62.0
-    subscription_topics:
-      # IR intensity topics
-      - _internal/ir_intensity_front_center_left
-      - _internal/ir_intensity_front_center_right
-      - _internal/ir_intensity_front_left
-      - _internal/ir_intensity_front_right
-      - _internal/ir_intensity_left
-      - _internal/ir_intensity_right
-      - _internal/ir_intensity_side_left
+/**:
+  ir_intensity_vector_publisher:
+    ros__parameters:
+      # IR intensity publisher topic
+      publisher_topic: ir_intensity
+      publish_rate: 62.0
+      subscription_topics:
+        # IR intensity topics
+        - _internal/ir_intensity_front_center_left
+        - _internal/ir_intensity_front_center_right
+        - _internal/ir_intensity_front_left
+        - _internal/ir_intensity_front_right
+        - _internal/ir_intensity_left
+        - _internal/ir_intensity_right
+        - _internal/ir_intensity_side_left

irobot_create_common/irobot_create_common_bringup/config/kidnap_estimator_params.yaml

@@ -1,7 +1,8 @@
 ---
-kidnap_estimator_publisher:
-  ros__parameters:
-    # Kidnap status publisher topic
-    kidnap_status_topic: /kidnap_status
-    # Subscription topics
-    hazard_topic: /hazard_detection
+/**:
+  kidnap_estimator_publisher:
+    ros__parameters:
+      # Kidnap status publisher topic
+      kidnap_status_topic: kidnap_status
+      # Subscription topics
+      hazard_topic: hazard_detection

irobot_create_common/irobot_create_common_bringup/config/mock_params.yaml

@@ -1,7 +1,8 @@
 ---
-mock_publisher:
-  ros__parameters:
-    # Mock slip status publisher topic
-    slip_status_topic: /slip_status
-    # Publishers rate
-    slip_status_publish_rate: 62.0
+/**:
+  mock_publisher:
+    ros__parameters:
+      # Mock slip status publisher topic
+      slip_status_topic: slip_status
+      # Publishers rate
+      slip_status_publish_rate: 62.0

irobot_create_common/irobot_create_common_bringup/config/robot_state_params.yaml

@@ -1,22 +1,22 @@
----
-robot_state:
-  ros__parameters:
-    # Stop status publisher topic
-    stop_status_topic: /stop_status
-    # Mock battery state publisher topic
-    battery_state_topic: /battery_state
-    # Publishers rate
-    kidnap_status_publish_rate: 1.0
-    stop_status_publish_rate: 62.0
-    battery_state_publish_rate: 0.1
-    # Subscription topics
-    dock_topic: /dock
-    wheel_vels_topic: /odom
-    # Stop status position difference tolerance
-    linear_velocity_tolerance: 0.01
-    angular_velocity_tolerance: 0.1
-    # Battery parameters
-    full_charge_percentage: 1.0
-    battery_high_percentage: 0.9
-    # Dock Parameters
-    undocked_charge_limit: 0.03
+/**:
+  robot_state:
+    ros__parameters:
+      # Stop status publisher topic
+      stop_status_topic: stop_status
+      # Mock battery state publisher topic
+      battery_state_topic: battery_state
+      # Publishers rate
+      kidnap_status_publish_rate: 1.0
+      stop_status_publish_rate: 62.0
+      battery_state_publish_rate: 0.1
+      # Subscription topics
+      dock_topic: dock
+      wheel_vels_topic: odom
+      # Stop status position difference tolerance
+      linear_velocity_tolerance: 0.01
+      angular_velocity_tolerance: 0.1
+      # Battery parameters
+      full_charge_percentage: 1.0
+      battery_high_percentage: 0.9
+      # Dock Parameters
+      undocked_charge_limit: 0.03

irobot_create_common/irobot_create_common_bringup/config/ui_mgr_params.yaml

@@ -1,10 +1,11 @@
 ---
-ui_mgr:
-  ros__parameters:
-    # Buttons publisher topic
-    button_topic: /interface_buttons
-    # Publishers rate
-    buttons_publish_rate: 1.0
-    # Subscription topics
-    lightring_topic: /cmd_lightring
-    audio_topic: /cmd_audio
+/**:
+  ui_mgr:
+    ros__parameters:
+      # Buttons publisher topic
+      button_topic: interface_buttons
+      # Publishers rate
+      buttons_publish_rate: 1.0
+      # Subscription topics
+      lightring_topic: cmd_lightring
+      audio_topic: cmd_audio

irobot_create_common/irobot_create_common_bringup/config/wheel_status_params.yaml

@@ -1,13 +1,14 @@
 ---
-wheel_status_publisher:
-  ros__parameters:
-    # Publish rate
-    publish_rate: 62.0
-    # Encoder resolution
-    encoder_resolution: 508.8
-    # Wheel radius
-    wheel_radius: 0.03575
-    # Wheels angular velocity topic
-    velocity_topic: /wheel_vels
-    # Wheels' net encoder ticks topic
-    ticks_topic: /wheel_ticks
+/**:
+  wheel_status_publisher:
+    ros__parameters:
+      # Publish rate
+      publish_rate: 62.0
+      # Encoder resolution
+      encoder_resolution: 508.8
+      # Wheel radius
+      wheel_radius: 0.03575
+      # Wheels angular velocity topic
+      velocity_topic: wheel_vels
+      # Wheels' net encoder ticks topic
+      ticks_topic: wheel_ticks

irobot_create_common/irobot_create_common_bringup/irobot_create_common_bringup/offset_parser.py

@@ -0,0 +1,18 @@
+from launch import LaunchContext, SomeSubstitutionsType, Substitution
+
+
+class OffsetParser(Substitution):
+    def __init__(
+            self,
+            number: SomeSubstitutionsType,
+            offset: float,
+    ) -> None:
+        self.__number = number
+        self.__offset = offset
+
+    def perform(
+            self,
+            context: LaunchContext = None,
+    ) -> str:
+        number = float(self.__number.perform(context))
+        return f'{number + self.__offset}'

irobot_create_common/irobot_create_common_bringup/irobot_create_common_bringup/replace_string.py

@@ -0,0 +1,83 @@
+# This file has been copied from https://github.com/ros-planning/navigation2
+# for use as part of the iRobot Create 3 simulator.
+#
+# Copyright (c) 2019 Intel Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import tempfile
+from typing import Dict
+from typing import List
+from typing import Text
+
+import launch
+
+
+class ReplaceString(launch.Substitution):
+    """
+    Substitution that replaces strings on a given file.
+
+    Used in launch system
+    """
+
+    def __init__(self,
+                 source_file: launch.SomeSubstitutionsType,
+                 replacements: Dict) -> None:
+        super().__init__()
+
+        # import here to avoid loop
+        from launch.utilities import normalize_to_list_of_substitutions
+        self.__source_file = normalize_to_list_of_substitutions(source_file)
+        self.__replacements = {}
+        for key in replacements:
+            self.__replacements[key] = normalize_to_list_of_substitutions(replacements[key])
+
+    @property
+    def name(self) -> List[launch.Substitution]:
+        """Getter for name."""
+        return self.__source_file
+
+    def describe(self) -> Text:
+        """Return a description of this substitution as a string."""
+        return ''
+
+    def perform(self, context: launch.LaunchContext) -> Text:
+        output_file = tempfile.NamedTemporaryFile(mode='w', delete=False)
+        replacements = self.resolve_replacements(context)
+        try:
+            input_file = open(launch.utilities.perform_substitutions(context, self.name), 'r')
+            self.replace(input_file, output_file, replacements)
+        except Exception as err:  # noqa: B902
+            print('ReplaceString substitution error: ', err)
+        finally:
+            input_file.close()
+            output_file.close()
+        return output_file.name
+
+    def resolve_replacements(self, context):
+        resolved_replacements = {}
+        for key in self.__replacements:
+            resolved_replacements[key] = (launch.utilities.perform_substitutions
+                                          (context, self.__replacements[key]))
+        return resolved_replacements
+
+    def replace(self, input_file, output_file, replacements):
+        for line in input_file:
+            for key, value in replacements.items():
+                if isinstance(key, str) and isinstance(value, str):
+                    if key in line:
+                        line = line.replace(key, value)
+                else:
+                    raise TypeError('A provided replacement pair is not a string.\
+                                        Both key and value should be strings.')
+                output_file.write(line)