Merge pull request #2 from CaptnLarson/ardent

Ardent

.gitignore

@@ -6,3 +6,4 @@ python/*.pyc
 python/__pycache__
 .*.swp
 comm/CMakeLists.txt.*
+.vscode

comm/CMakeLists.txt

@@ -16,8 +16,8 @@ if(COMM_ROS2_FASTRTPS OR COMM_ROS2_OPENSPLICE OR COMM_ROS2_CONNEXT)
   add_subdirectory(ros2node)
 endif()
 if(COMM_ROS)
-  include_directories(/opt/ros/jade/include)
-  link_directories(/opt/ros/jade/lib) #TODO
+  include_directories(/opt/ros/kinetic/include)
+  link_directories(/opt/ros/kinetic/lib) #TODO
   add_subdirectory(ros1node/messages)
   add_subdirectory(ros1node)
 endif()

comm/ros2node/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5.1)
 project(ros2node)
 
 set(CMAKE_AUTOMOC ON)
@@ -39,7 +39,7 @@ endif()
 find_package(${DDS} REQUIRED)
 find_package(ros2eval_msgs REQUIRED)
 
-target_link_libraries(ros2node common rcl rclcpp rclcpp__${DDS} ${${DDS}_LIBRARIES} ${ros2eval_msgs_LIBRARIES})
+target_link_libraries(ros2node common rcl rclcpp  ${${DDS}_LIBRARIES} ${ros2eval_msgs_LIBRARIES})
 include_directories(${${DDS}_INCLUDE_DIRS} ${rcl_INCLUDE_DIRS})
 install(FILES ${INSTALL_HEADERS} DESTINATION /include/ros2node)
 

comm/ros2node/messages/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5.1)
 
 project(ros2eval_msgs)
 

comm/ros2node/messages/package.xml

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>ros2eval_msgs</name>
   <version>1.5.3</version>
   <description>Simple messages for testing</description>
@@ -11,10 +11,12 @@
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
   <build_depend>std_msgs</build_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
 
   <exec_depend>rosidl_default_runtime</exec_depend>
   <exec_depend>std_msgs</exec_depend>
-
+  
   <export>
     <build_type>ament_cmake</build_type>
   </export>

comm/ros2node/ros2node.cpp

@@ -19,7 +19,7 @@
 #include "ros2subscriptionlistenerinterface.h"
 #include "ros2qosprofile.h"
 #ifdef FASTRTPS
-#include "fastrtps/utils/RTPSLog.h"
+#include "fastrtps/log/Log.h"
 #endif
 
 //TODO - redesign subscriber
@@ -37,11 +37,11 @@ namespace roscommunication
             {
                 char *argv[] = { name.toLocal8Bit().data() };
                 int argc = sizeof(argv) / sizeof(char*) - 1;
-                rclcpp::utilities::init(argc, argv);
+                rclcpp::init(argc, argv);
                 qRegisterMetaType<communication::MessageType>("communication::MessageType");
                 debug(LOG_WARNING, "RosInitializer", "DDS: %s", rmw_get_implementation_identifier());
 #ifdef FASTRTPS
-                eprosima::Log::setVerbosity(eprosima::VERB_INFO);
+                eprosima::fastrtps::Log::SetVerbosity(eprosima::fastrtps::Log::Info);
 #endif
                 mInitialized = true; //TODO - check
                 debug(LOG_WARNING, "RosInitializer", "ros2 initialized");
@@ -81,7 +81,7 @@ namespace roscommunication
 
     private:
         rclcpp::Node::SharedPtr mNode;
-        typename rclcpp::subscription::Subscription<T>::SharedPtr mSubscription;
+        typename rclcpp::Subscription<T>::SharedPtr mSubscription;
 
         void subscribe(QoSSetting qos)
         {
@@ -311,7 +311,7 @@ namespace roscommunication
             ros2eval_msgs::msg::RobotSensor sensor;
             sensor.id = msg.id;
             sensor.data = msg.data;
-            auto pub = std::static_pointer_cast<rclcpp::publisher::Publisher<ros2eval_msgs::msg::RobotSensor>>(mPublishers.value(n));
+            auto pub = std::static_pointer_cast<rclcpp::Publisher<ros2eval_msgs::msg::RobotSensor>>(mPublishers.value(n));
             debug(LOG_BENCHMARK, "PUBLISHING RobotSensor", "id=%d, size=%lu", msg.id, msg.data.size());
             try
             {
@@ -344,7 +344,7 @@ namespace roscommunication
             control.z = msg.z;
             control.z = msg.id;
             debug(LOG_BENCHMARK, "PUBLISHING RobotControl", "id=%d, size=%lu", msg.id, sizeof(ros2eval_msgs::msg::RobotControl));
-            auto pub = std::static_pointer_cast<rclcpp::publisher::Publisher<ros2eval_msgs::msg::RobotControl> >(mPublishers.value(n));
+            auto pub = std::static_pointer_cast<rclcpp::Publisher<ros2eval_msgs::msg::RobotControl> >(mPublishers.value(n));
             try
             {
                 pub->publish(control);
@@ -374,7 +374,7 @@ namespace roscommunication
             alarm.id = msg.id;
             alarm.alarm1 = msg.alarm1;
             alarm.alarm2 = msg.alarm2;
-            auto pub = std::static_pointer_cast<rclcpp::publisher::Publisher<ros2eval_msgs::msg::RobotAlarm> >(mPublishers.value(n));
+            auto pub = std::static_pointer_cast<rclcpp::Publisher<ros2eval_msgs::msg::RobotAlarm> >(mPublishers.value(n));
             debug(LOG_BENCHMARK, "PUBLISHING RobotAlarm", "id=%u, size=%lu", alarm.id, sizeof(ros2eval_msgs::msg::RobotAlarm));
             try
             {
@@ -407,14 +407,14 @@ namespace roscommunication
         QoSSettings mQoS;
         rclcpp::Node::SharedPtr mNode;
         bool mStarted;
-        QMap<MessageType, rclcpp::publisher::PublisherBase::SharedPtr> mPublishers;
+        QMap<MessageType, rclcpp::PublisherBase::SharedPtr> mPublishers;
     };
 
 /*--------------------ROS2NodeImpl----------------------*/
 
     rclcpp::Node::SharedPtr getNode(QString name)
     {
-        return rclcpp::node::Node::make_shared(qPrintable(name));
+        return rclcpp::Node::make_shared(qPrintable(name));
     }
 
     class Ros2NodeImpl : public QObject

comm/ros2node/ros2qosprofile.cpp

@@ -8,26 +8,29 @@ namespace
 {
     static const rmw_qos_profile_t rmw_qos_profile_alarm =
     {
-        RMW_QOS_POLICY_KEEP_ALL_HISTORY,
+        RMW_QOS_POLICY_HISTORY_KEEP_ALL,
         0,
-        RMW_QOS_POLICY_RELIABLE,
-        RMW_QOS_POLICY_TRANSIENT_LOCAL_DURABILITY
+        RMW_QOS_POLICY_RELIABILITY_RELIABLE,
+        RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
+        false
     };
 
     static const rmw_qos_profile_t rmw_qos_profile_control =
     {
-        RMW_QOS_POLICY_KEEP_LAST_HISTORY,
+        RMW_QOS_POLICY_HISTORY_KEEP_LAST,
         50,
-        RMW_QOS_POLICY_RELIABLE,
-        RMW_QOS_POLICY_VOLATILE_DURABILITY
+        RMW_QOS_POLICY_RELIABILITY_RELIABLE,
+        RMW_QOS_POLICY_DURABILITY_VOLATILE,
+        false
     };
 
     static const rmw_qos_profile_t rmw_qos_profile_sensor =
     {
-        RMW_QOS_POLICY_KEEP_LAST_HISTORY,
+        RMW_QOS_POLICY_HISTORY_KEEP_LAST,
         0,
-        RMW_QOS_POLICY_BEST_EFFORT,
-        RMW_QOS_POLICY_VOLATILE_DURABILITY
+        RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT,
+        RMW_QOS_POLICY_DURABILITY_VOLATILE,
+        false
     };
 }
 
@@ -53,10 +56,10 @@ std::string Ros2QoSProfile::profileDescription(QoSProfile p)
     std::string description;
     switch (profile.history)
     {
-        case RMW_QOS_POLICY_KEEP_ALL_HISTORY:
+        case RMW_QOS_POLICY_HISTORY_KEEP_ALL:
             description.append("H: KEEP_ALL, ");
             break;
-        case RMW_QOS_POLICY_KEEP_LAST_HISTORY:
+        case RMW_QOS_POLICY_HISTORY_KEEP_LAST:
             description.append("H: KEEP_LAST=" + std::to_string(profile.depth)+ ", ");
             break;
         case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
@@ -65,10 +68,10 @@ std::string Ros2QoSProfile::profileDescription(QoSProfile p)
     }
     switch (profile.reliability)
     {
-        case RMW_QOS_POLICY_RELIABLE:
+        case RMW_QOS_POLICY_RELIABILITY_RELIABLE:
             description.append("R: RELIABLE, ");
             break;
-        case RMW_QOS_POLICY_BEST_EFFORT:
+        case RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT:
             description.append("R: BEST_EFFORT, ");
             break;
         case RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT:
@@ -77,10 +80,10 @@ std::string Ros2QoSProfile::profileDescription(QoSProfile p)
     };
     switch (profile.durability)
     {
-        case RMW_QOS_POLICY_TRANSIENT_LOCAL_DURABILITY:
+        case RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL:
             description.append("D: TRANSIENT");
             break;
-        case RMW_QOS_POLICY_VOLATILE_DURABILITY:
+        case RMW_QOS_POLICY_DURABILITY_VOLATILE:
             description.append("D: VOLATILE");
             break;
         case RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT:

docker/ros1_base/Dockerfile

@@ -1,4 +1,4 @@
-FROM ros:jade
+FROM ros:kinetic
 
 RUN cd /etc && rm localtime && ln -s /usr/share/zoneinfo/Poland localtime
 RUN apt-get update && apt-get install -y terminator vim build-essential perl python git wget tcpdump qt5-default qtcreator

docker/ros1_node/Dockerfile

@@ -7,4 +7,4 @@ RUN mkdir $top
 ADD comm $comm
 RUN mkdir $comm/build
 RUN touch $comm/ros2node/messages/CATKIN_IGNORE
-RUN cd $comm/build && /bin/bash -c "source /opt/ros/jade/setup.bash && cmake -DCOMM_ROS=true .. && make"
+RUN cd $comm/build && /bin/bash -c "source /opt/ros/kinetic/setup.bash && cmake -DCOMM_ROS=true .. && make"

docker/ros2_base/Dockerfile

@@ -1,10 +1,13 @@
 FROM ubuntu:xenial
 
 RUN cd /etc && rm localtime && ln -s /usr/share/zoneinfo/Poland localtime
+RUN apt-get update 
+RUN apt-get install -y locales
 RUN locale-gen en_US.UTF-8
 ENV LANG en_US.UTF-8
 ENV top /ros2_benchmarking
 ENV comm $top/comm
+
 ENV RMW_IMPLEMENTATION rmw_opensplice_cpp
 ENV ROS2_SETUP /ros2_ws/install/local_setup.bash
 ENV OSPL_URI file:///usr/etc/opensplice/config/ospl.xml
@@ -17,15 +20,34 @@ RUN apt-key adv --keyserver ha.pool.sks-keyservers.net --recv-keys D2486D2DD83DB
 RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu xenial main" > /etc/apt/sources.list.d/gazebo-latest.list
 
 RUN apt-get update
-RUN apt-get install -y perl git wget build-essential cppcheck cmake libopencv-dev python-empy python3-empy python3-nose python3-pip python3-setuptools python3-vcstool qt5-default qtcreator
-RUN apt-get install -y libboost-chrono-dev libboost-date-time-dev libboost-program-options-dev libboost-regex-dev libboost-system-dev libboost-thread-dev libopensplice64 vim openjdk-9-jre
-RUN pip3 install -U setuptools
+#build essentials
+RUN apt-get install -y cmake gcc wget git
+RUN apt-get install -y wget build-essential cppcheck libopencv-dev libpoco-dev libpocofoundation9v5 libpocofoundation9v5-dbg
+
+RUN apt-get install -y qt5-default qtcreator
+RUN apt-get install -y libtinyxml-dev libeigen3-dev uncrustify
+RUN apt-get install -y clang-format pydocstyle pyflakes  qtbase5-dev
+
+#dependencies for RViz
+RUN apt-get install -y libcurl4-openssl-dev libqt5core5a libqt5gui5 libqt5opengl5 libqt5widgets5 libxaw7-dev libgles2-mesa-dev libglu1-mesa-dev qtbase5-dev
+
+#pyhton requirements
+RUN apt-get install -y python-empy python3-empy python3-dev python3-nose python3-pip python3-setuptools python3-vcstool python3-yaml python3-coverage python3-mock python3-pep8 python3-pyparsing
+RUN pip3 install -U argcomplete
+RUN pip3 install -U flake8 flake8-blind-except flake8-builtins flake8-class-newline flake8-comprehensions flake8-deprecated flake8-docstrings flake8-import-order flake8-quotes pytest pytest-cov pytest-runner
+
+#Fastrtps and opensplice requirements
+RUN apt-get install -y libasio-dev libtinyxml2-dev libopensplice67
+
+
+RUN apt-get install -y vim openjdk-9-jre
+
 
 RUN mkdir -p /ros2_ws/src/applied
 RUN wget https://raw.githubusercontent.com/ros2/ros2/release-latest/ros2.repos -O /ros2_ws/ros2.repos
 RUN vcs import /ros2_ws/src < /ros2_ws/ros2.repos
-RUN perl -i -p -e "s/#(?=.+\/(Byte|ByteMultiArray|MultiArrayDimension|MultiArrayLayout)\.msg)//" /ros2_ws/src/ros2/common_interfaces/std_msgs/CMakeLists.txt
-RUN for dir in demos examples rclpy realtime_support ros1_bridge rmw_connext system_tests tlsf ../eProsima; do touch /ros2_ws/src/ros2/$dir/AMENT_IGNORE; done
+
+RUN for dir in demos examples rclpy realtime_support ros1_bridge rviz rmw_connext system_tests tlsf; do touch /ros2_ws/src/ros2/$dir/AMENT_IGNORE; done
 ADD comm/ros2node/messages /ros2_ws/src/ros2/common_interfaces/messages
 RUN /ros2_ws/src/ament/ament_tools/scripts/ament.py build $AMENT_ARGS
 

docker/ros2_bridge/Dockerfile

@@ -1,6 +1,7 @@
 FROM ros2:base
 
-RUN apt-get install -y ros-kinetic-roscpp ros-kinetic-rosmsg ros-kinetic-catkin ros-kinetic-std-msgs
+RUN apt-get update
+RUN apt-get install -y ros-kinetic-roscpp ros-kinetic-rosmsg ros-kinetic-catkin ros-kinetic-std-msgs ros-kinetic-roslaunch --fix-missing
 
 ENV ROS_SETUP /opt/ros/kinetic/setup.bash
 ENV build $comm/ros1node/messages/build

docker/ros2_fastrtps/Dockerfile

@@ -1,9 +1,10 @@
 FROM ros2:base
 
 ADD comm $comm
-ADD docker/ros2_fastrtps/*.patch /ros2_ws/src/
+#ADD docker/ros2_fastrtps/*.patch /ros2_ws/src/
 RUN mkdir $comm/build
-RUN rm /ros2_ws/src/eProsima/AMENT_IGNORE
-RUN cd /ros2_ws/src/ && cat *.patch | patch -p0 && mv *.patch applied
-RUN cd /ros2_ws && ./src/ament/ament_tools/scripts/ament.py build --force-ament-cmake-configure $AMENT_ARGS
+#RUN cd /ros2_ws/src/ && cat *.patch | patch -p0 && mv *.patch applied
+#RUN cd /ros2_ws && ./src/ament/ament_tools/scripts/ament.py build --force-ament-cmake-configure $AMENT_ARGS
 RUN cd $comm/build && /bin/bash -c "source $ROS2_SETUP && cmake -DCOMM_ROS2_FASTRTPS=true .. && make"
+
+ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp

docker/ros2_opensplice/Dockerfile

@@ -4,3 +4,4 @@ ENV OSPL_URI file:///ros2_benchmarking/comm/ros2node/ospl.xml
 ADD comm $comm
 RUN mkdir $comm/build
 RUN cd $comm/build && /bin/bash -c "source $ROS2_SETUP && cmake -DCOMM_ROS2_OPENSPLICE=true .. && make"
+ENV RMW_IMPLEMENTATION=rmw_opensplice_cpp

scripts/cpu_usage.sh

@@ -2,7 +2,7 @@
 
 while true
 do
-    idle=`top -bn2 | grep "Cpu(s)" | sed 1d | sed "s/.*, \([0-9,]\+\) id.*/\\1/" | sed "s/,/./"`
+    idle=`top -bn2 | grep "Cpu(s):" | sed 1d | sed "s/.*, \([0-9]\+.[0-9]\+\) id.*/\\1/" | sed "s/,/./"`
     echo "scale=2; 100-$idle" | bc -l
     sleep 1
 done

scripts/memory_usage.sh

@@ -2,8 +2,8 @@
 
 while true
 do
-    usage=`free -m | grep "buffers/cache"`
-    expression=`echo $usage | sed 's/.*cache:\s*\([0-9]\+\)\s*\([0-9]\+\).*/\1\/\2/'`
+    usage=`free -m | grep "Mem:"`
+    expression=`echo $usage | sed 's/Mem:\s*\([0-9]\+\)\s*\([0-9]\+\).*/\1\/\2/'`
     echo "scale=2; 100*$expression" | bc -l
     sleep 1
 done

scripts/start_ros2fastrtps_console.sh

@@ -1,5 +1,5 @@
 #/bin/bash
 
 . ./scripts/networks.sh
-cmd="cd \$comm/build/scenarios && ./ros2runner rosconsole.ini >/logs/console.txt 2>&1"
+cmd="source /ros2_ws/install/setup.sh && cd \$comm/build/scenarios && ./ros2runner rosconsole.ini >/logs/console.txt 2>&1"
 docker run -d -h console --pid=host --net ros2fastrtps --ip $net_ros2fastrtps_console --add-host robot:$net_ros2fastrtps_robot -v $PWD/logs:/logs ros2:fastrtps bash -c "$cmd"

scripts/start_ros2fastrtps_robot.sh

@@ -1,5 +1,5 @@
 #/bin/bash
 
 . ./scripts/networks.sh
-cmd="cd \$comm/build/scenarios && ./ros2runner rosrobot.ini >/logs/robot.txt 2>&1"
+cmd="source /ros2_ws/install/setup.sh && cd \$comm/build/scenarios && ./ros2runner rosrobot.ini >/logs/robot.txt 2>&1"
 docker run -d -h robot --pid=host --net ros2fastrtps --ip $net_ros2fastrtps_robot --add-host console:$net_ros2fastrtps_console -v $PWD/logs:/logs ros2:fastrtps bash -c "$cmd"

scripts/start_ros2fastrtps_scalability_robot.sh

@@ -1,5 +1,5 @@
 #/bin/bash
 
 . ./scripts/networks.sh
-cmd="cd \$comm/build/scenarios && ./ros2runner rosrobot.ini >/logs/robot-${1}.txt 2>&1"
+cmd="source /ros2_ws/install/setup.sh && cd \$comm/build/scenarios && ./ros2runner rosrobot.ini >/logs/robot-${1}.txt 2>&1"
 docker run -d -h robot --net ros2fastrtps --ip ${net_ros2fastrtps_prefix}.$1 --add-host console:$net_ros2fastrtps_console -v $PWD/logs:/logs ros2:fastrtps bash -c "$cmd"

scripts/start_ros2opensplice_console.sh

@@ -1,5 +1,5 @@
 #/bin/bash
 
 . ./scripts/networks.sh
-cmd="cd \$comm/build/scenarios && OSPL_ERRORFILE='<stderr>' OSPL_INFOFILE='<stderr>' OSPL_VERBOSITY=WARNING ./ros2runner rosconsole.ini >/logs/console.txt 2>&1"
+cmd="source /ros2_ws/install/setup.sh && cd \$comm/build/scenarios && OSPL_ERRORFILE='<stderr>' OSPL_INFOFILE='<stderr>' OSPL_VERBOSITY=WARNING ./ros2runner rosconsole.ini >/logs/console.txt 2>&1"
 docker run -d -h console --net ros2opensplice --ip $net_ros2opensplice_console --add-host robot:$net_ros2opensplice_robot -v $PWD/logs:/logs ros2:opensplice bash -c "$cmd"

scripts/start_ros2opensplice_robot.sh

@@ -1,5 +1,5 @@
 #/bin/bash
 
 . ./scripts/networks.sh
-cmd="cd \$comm/build/scenarios && OSPL_ERRORFILE='<stderr>' OSPL_INFOFILE='<stderr>' OSPL_VERBOSITY=WARNING ./ros2runner rosrobot.ini >/logs/robot.txt 2>&1"
+cmd="source /ros2_ws/install/setup.sh && cd \$comm/build/scenarios && OSPL_ERRORFILE='<stderr>' OSPL_INFOFILE='<stderr>' OSPL_VERBOSITY=WARNING ./ros2runner rosrobot.ini >/logs/robot.txt 2>&1"
 docker run -d -h robot --net ros2opensplice --ip $net_ros2opensplice_robot --add-host console:$net_ros2opensplice_console -v $PWD/logs:/logs ros2:opensplice bash -c "$cmd"

scripts/start_ros2opensplice_robot_bridge.sh

@@ -1,5 +1,5 @@
 #/bin/bash
 
 . ./scripts/networks.sh
-cmd="cd \$comm/build/scenarios && OSPL_ERRORFILE='<stderr>' OSPL_INFOFILE='<stderr>' OSPL_VERBOSITY=WARNING ./ros2runner rosrobot.ini >/logs/robot.txt 2>&1"
+cmd="source /ros2_ws/install/setup.sh &&  cd \$comm/build/scenarios && OSPL_ERRORFILE='<stderr>' OSPL_INFOFILE='<stderr>' OSPL_VERBOSITY=WARNING ./ros2runner rosrobot.ini >/logs/robot.txt 2>&1"
 docker run -d -h robot --net ros1 --ip $net_ros1_ros2_robot --add-host console:$net_ros1_console -v $PWD/logs:/logs ros2:opensplice bash -c "$cmd"

scripts/start_ros2opensplice_scalability_robot.sh

@@ -1,5 +1,5 @@
 #/bin/bash
 
 . ./scripts/networks.sh
-cmd="cd \$comm/build/scenarios && OSPL_ERRORFILE='<stderr>' OSPL_INFOFILE='<stderr>' OSPL_VERBOSITY=WARNING ./ros2runner rosrobot.ini >/logs/robot-${1}.txt 2>&1"
+cmd="source /ros2_ws/install/setup.sh && cd \$comm/build/scenarios && OSPL_ERRORFILE='<stderr>' OSPL_INFOFILE='<stderr>' OSPL_VERBOSITY=WARNING ./ros2runner rosrobot.ini >/logs/robot-${1}.txt 2>&1"
 docker run -d -h robot --net ros2opensplice --ip ${net_ros2opensplice_prefix}.$1 --add-host console:$net_ros2opensplice_console -v $PWD/logs:/logs ros2:opensplice bash -c "$cmd"