Fix circular dependency, update cruft

.cruft.json

@@ -1,6 +1,6 @@
 {
   "template": "https://github.com/UrbanMachine/create-ros-app.git",
-  "commit": "6a85fd934e7c6297d5fd717c545fad443cc4dfcf",
+  "commit": "5d14b64b8a4c2ac85f57a19dd962216de9c7a28a",
   "checkout": null,
   "context": {
     "cookiecutter": {

docker/Dockerfile

@@ -45,6 +45,7 @@ RUN --mount=type=cache,target="${APT_CACHE}" \
     # Build tools
     build-essential \
     git \
+    git-lfs \
     # Complementary ROS2 Python tools
     python3-colcon-common-extensions \
     python3-colcon-mixin \

launch-profiles/node_helpers_showcase/launcher.py

@@ -1,12 +1,69 @@
 """Launch nodes for this launch profile."""
 
+from pathlib import Path
+
 from launch import LaunchDescription
 from launch_ros.actions import Node
 
+# Import the forklift URDF module so it register itself with the URDFConstants
+from node_helpers import launching
+from node_helpers.parameters import ParameterLoader
+from pydantic import BaseModel
+
+
+class MetaParameters(BaseModel):
+    """This is a great place to put parameters that affect the generation of the launch
+    file. Don't put node specific configuration in here, rather, put configuration for
+    what nodes you want to be created in the first place.
+
+    Read more about this functionality under docs/parameters.rst
+    """
+
+    urdf_modules_to_load: list[launching.URDFModuleNodeFactory.Parameters]
+    """This is an example of dynamically loading an arbitrary number of URDFs.
+
+    This is set in the `/robot/launch-profile/parameters.yaml` under `meta_parameters`.
+    """
+
 
 def generate_launch_description() -> LaunchDescription:
-    rviz_config = "/robot/launch-profile/rviz-config.rviz"
+    # Create a parameter loader to parse all yaml files in the launch-profile/parameters
+    # directory, and then apply overrides from the override file, if one exists.
+    param_loader: ParameterLoader[MetaParameters] = ParameterLoader(
+        parameters_directory=Path("/robot/launch-profile/parameters/"),
+        override_file=Path("/robot/launch-profile/parameters.override.yaml"),
+        meta_parameters_schema=MetaParameters,
+    )
+
+    rviz_config = launching.required_file("/robot/launch-profile/rviz-config.rviz")
+
+    urdf_node_factories = (
+        launching.URDFModuleNodeFactory(parameters=node_factory_params)
+        for node_factory_params in param_loader.meta_parameters.urdf_modules_to_load
+    )
+    urdf_nodes = []
+    for urdf_node_factory in urdf_node_factories:
+        urdf_nodes += urdf_node_factory.create_nodes()
+
     launch_description = [
-        Node(package="rviz2", executable="rviz2", arguments=["-d", [rviz_config]]),
+        *urdf_nodes,
+        Node(
+            package="node_helpers",
+            executable="run_ExampleNode",
+            name="ExampleNode",
+            parameters=[param_loader.ros_parameters_file],
+            namespace="example_node_namespace",
+        ),
+        Node(
+            package="rviz2",
+            executable="rviz2",
+            arguments=["-d", [str(rviz_config)]],
+        ),
+        Node(
+            namespace="urdf_arrangement",
+            package="node_helpers",
+            executable="interactive_transform_publisher",
+            parameters=[param_loader.ros_parameters_file],
+        ),
     ]
     return LaunchDescription(launch_description)

launch-profiles/node_helpers_showcase/parameters/parameters.yaml

@@ -0,0 +1,23 @@
+meta_parameters:
+  urdf_modules_to_load:
+    # URDF's are attached to base_link down below in the
+    - namespace: "example_node_namespace"
+      urdf_constant_name: "forklift"
+
+
+example_node_namespace:
+  ExampleNode:
+    ros__parameters:
+      root_config:
+        publish_value: "hello"
+        publish_hz: 10.0
+
+urdf_arrangement:
+  interactive_transform_publisher:
+    ros__parameters:
+      static_transforms_file: /robot/persistent/interactive_transforms.json
+      scale_factor: 1.0
+      tf_publish_frequency: 1.0
+      transforms:
+        # Mounts the forklift urdf to the base_link so it can be visualized in rviz
+        - "base_link:example_node_namespace.forklift_body"

launch-profiles/node_helpers_showcase/rviz-config.rviz

@@ -4,10 +4,10 @@ Panels:
     Name: Displays
     Property Tree Widget:
       Expanded:
-        - /Global Options1
-        - /Status1
+        - /InteractiveMarkers1
+        - /InteractiveTransforms1
       Splitter Ratio: 0.5
-    Tree Height: 1064
+    Tree Height: 1108
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -47,10 +47,69 @@ Visualization Manager:
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
       Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /example_node_namespace/urdf_0/robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        example_node_namespace.forklift_body:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        example_node_namespace.forks:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        example_node_namespace.forks_origin:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: ExampleURDF
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz_default_plugins/InteractiveMarkers
+      Enable Transparency: true
+      Enabled: true
+      Interactive Markers Namespace: ""
+      Name: InteractiveMarkers
+      Show Axes: false
+      Show Descriptions: true
+      Show Visual Aids: false
+      Value: true
+    - Class: rviz_default_plugins/InteractiveMarkers
+      Enable Transparency: true
+      Enabled: true
+      Interactive Markers Namespace: /urdf_arrangement
+      Name: InteractiveTransforms
+      Show Axes: false
+      Show Descriptions: true
+      Show Visual Aids: false
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: map
+    Fixed Frame: base_link
     Frame Rate: 30
   Name: root
   Tools:
@@ -93,33 +152,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 10
+      Distance: 8.649819374084473
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0
-        Y: 0
-        Z: 0
+        X: -0.4261273145675659
+        Y: -0.3684071898460388
+        Z: 0.5727261900901794
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.785398006439209
+      Pitch: 0.5403984189033508
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 0.785398006439209
+      Yaw: 1.0753980875015259
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1355
+  Height: 1331
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000004b1fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000004b1000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000004b1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000004b1000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004f60000003efc0100000002fb0000000800540069006d00650100000000000004f60000025300fffffffb0000000800540069006d0065010000000000000450000000000000000000000285000004b100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001c5000004ddfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000004dd000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000499fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000499000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009f40000003efc0100000002fb0000000800540069006d00650000000000000009f40000025300fffffffb0000000800540069006d0065010000000000000450000000000000000000000829000004dd00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -128,6 +187,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1270
-  X: 3842
-  Y: 40
+  Width: 2548
+  X: 8
+  Y: 64

pkgs/node_helpers/node_helpers/urdfs/loading.py

@@ -4,8 +4,6 @@
 
 from ament_index_python import get_package_share_directory
 
-from node_helpers.launching.files import required_file
-
 NAMESPACE_FMT = "{namespace}.{name}"
 _JOINT_TAG = "joint"
 _LINK_TAG = "link"
@@ -20,7 +18,10 @@ def load_urdf(package: str, relative_urdf_path: Path | str) -> str:
 
     relative_urdf_path = Path(relative_urdf_path)
     package_root = get_package_share_directory(package)
-    urdf_file = required_file(package_root, relative_urdf_path)
+    urdf_file = Path(package_root, relative_urdf_path)
+
+    if not urdf_file.is_file():
+        raise FileNotFoundError(f"URDF file '{urdf_file!s}' not found")
     return urdf_file.read_text()