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[MSA] Add Setup Step for Generating Launch Files (#1129)
* Change to polling method for determining dependencies * Add Setup Step for Generating Launch Files * Generate basic launch files using moveit_configs_utils * Some documentation!
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...tup_assistant/moveit_setup_app_plugins/include/moveit_setup_app_plugins/launch_bundle.hpp
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| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2022, Metro Robots | ||
| * 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 Metro Robots 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: David V. Lu!! */ | ||
| #pragma once | ||
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| #include <moveit_setup_framework/templates.hpp> | ||
| #include <ament_index_cpp/get_package_share_directory.hpp> | ||
| #include <moveit_setup_framework/utilities.hpp> | ||
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| namespace moveit_setup_app_plugins | ||
| { | ||
| using moveit_setup_framework::appendPaths; | ||
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| /** | ||
| * @brief One launch file and any other bonus files that get bundled with it, i.e. the RViz launch file and its config. | ||
| * | ||
| * Each launch bundle is presented to the user as option to generate. They are bundled because it would not (generally) | ||
| * make sense to generate the RViz config without the launch file. | ||
| */ | ||
| class LaunchBundle | ||
| { | ||
| public: | ||
| /** | ||
| * @param title The display name for this LaunchBundle | ||
| * @param description An English description of the files contained within | ||
| * @param launch_name The identifier that signifies the name of the generated launch file (launch_name.launch.py) | ||
| * @param dependencies Each string is the name of a package that should be added as a dependency if this bundle is generated | ||
| */ | ||
| LaunchBundle(const std::string& title, const std::string& description, const std::string& launch_name, | ||
| const std::set<std::string>& dependencies = {}) | ||
| : title_(title), description_(description), launch_name_(launch_name), dependencies_(dependencies), id_(-1) | ||
| { | ||
| } | ||
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| const std::string& getTitle() const | ||
| { | ||
| return title_; | ||
| } | ||
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| const std::string& getDescription() const | ||
| { | ||
| return description_; | ||
| } | ||
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| /** | ||
| * @brief The ID is an index in a list, used for quick identification and argument passing | ||
| */ | ||
| unsigned int getID() const | ||
| { | ||
| return id_; | ||
| } | ||
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| void setID(unsigned int id) | ||
| { | ||
| id_ = id; | ||
| } | ||
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| void addFile(const std::string& relative_path, const std::string& description) | ||
| { | ||
| bonus_files_.push_back(BonusFile(relative_path, description)); | ||
| } | ||
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| const std::set<std::string> getDependencies() const | ||
| { | ||
| return dependencies_; | ||
| } | ||
|
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| /** | ||
| * @brief Defined so that LaunchBundles can be added to sets | ||
| */ | ||
| bool operator<(const LaunchBundle& other) const | ||
| { | ||
| return title_ < other.title_; | ||
| } | ||
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| class GenericLaunchTemplate : public moveit_setup_framework::TemplatedGeneratedFile | ||
| { | ||
| public: | ||
| GenericLaunchTemplate(const std::string& package_path, const std::time_t& last_gen_time, const LaunchBundle& parent) | ||
| : TemplatedGeneratedFile(package_path, last_gen_time), parent_(parent) | ||
| { | ||
| function_name_ = "generate_" + parent_.launch_name_ + "_launch"; | ||
| relative_path_ = appendPaths("launch", parent_.launch_name_ + ".launch.py"); | ||
| template_path_ = appendPaths(ament_index_cpp::get_package_share_directory("moveit_setup_app_plugins"), | ||
| "templates/launch/generic.launch.py.template"); | ||
| } | ||
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| std::string getRelativePath() const override | ||
| { | ||
| return relative_path_; | ||
| } | ||
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| std::string getDescription() const override | ||
| { | ||
| return parent_.description_; | ||
| } | ||
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| std::string getTemplatePath() const override | ||
| { | ||
| return template_path_; | ||
| } | ||
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| bool hasChanges() const override | ||
| { | ||
| return false; | ||
| } | ||
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| bool write() override | ||
| { | ||
| // Add function name as a TemplateVariable, then remove it | ||
| variables_.push_back(moveit_setup_framework::TemplateVariable("FUNCTION_NAME", function_name_)); | ||
| bool ret = TemplatedGeneratedFile::write(); | ||
| variables_.pop_back(); | ||
| return ret; | ||
| } | ||
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| protected: | ||
| const LaunchBundle& parent_; | ||
| std::string function_name_, relative_path_, template_path_; | ||
| }; | ||
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| struct BonusFile // basically a std::pair<std::string, std::string> | ||
| { | ||
| BonusFile(const std::string& path, const std::string& description) : path(path), description(description) | ||
| { | ||
| } | ||
| std::string path; | ||
| std::string description; | ||
| }; | ||
|
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| class BonusTemplatedFile : public moveit_setup_framework::TemplatedGeneratedFile | ||
| { | ||
| public: | ||
| BonusTemplatedFile(const std::string& package_path, const std::time_t& last_gen_time, | ||
| const std::string& relative_path, const std::string& description) | ||
| : TemplatedGeneratedFile(package_path, last_gen_time), relative_path_(relative_path), description_(description) | ||
| { | ||
| } | ||
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| std::string getRelativePath() const override | ||
| { | ||
| return relative_path_; | ||
| } | ||
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| std::string getDescription() const override | ||
| { | ||
| return description_; | ||
| } | ||
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| std::string getTemplatePath() const override | ||
| { | ||
| return appendPaths(appendPaths(ament_index_cpp::get_package_share_directory("moveit_setup_app_plugins"), | ||
| "templates"), | ||
| relative_path_); | ||
| } | ||
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| bool hasChanges() const override | ||
| { | ||
| return false; | ||
| } | ||
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| protected: | ||
| std::string relative_path_, description_; | ||
| }; | ||
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| void collectFiles(const std::string& package_path, const std::time_t& last_gen_time, | ||
| std::vector<moveit_setup_framework::GeneratedFilePtr>& files) const | ||
| { | ||
| files.push_back(std::make_shared<GenericLaunchTemplate>(package_path, last_gen_time, *this)); | ||
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| for (const BonusFile& bonus_file : bonus_files_) | ||
| { | ||
| files.push_back( | ||
| std::make_shared<BonusTemplatedFile>(package_path, last_gen_time, bonus_file.path, bonus_file.description)); | ||
| } | ||
| } | ||
|
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| protected: | ||
| std::string title_, description_, launch_name_; | ||
| std::set<std::string> dependencies_; | ||
| unsigned int id_; | ||
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| std::vector<BonusFile> bonus_files_; | ||
| }; | ||
| } // namespace moveit_setup_app_plugins |
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