first commit for launch_ros

launch_ros/.flake8

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+[flake8]
+max-line-length = 100

launch_ros/examples/lifecycle_pub_sub_launch.py

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+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+"""Launch a talker and a listener."""
+
+import os
+import sys
+sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..'))  # noqa
+sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..', '..', 'launch'))  # noqa
+
+import launch
+import launch.actions
+import launch.events
+
+import launch_ros.actions
+import launch_ros.events
+import launch_ros.events.lifecycle
+from launch_ros import get_default_ros_launch_description
+
+import lifecycle_msgs.msg
+
+
+def main(argv=sys.argv[1:]):
+    """Main."""
+    def _on_transition_event(context):
+        print('got transition_event {}'.format(context.locals.event))
+
+    ld = launch.LaunchDescription()
+
+    # Launch the talker node.
+    talker_node = launch_ros.actions.LifecycleNode(
+        node_name='talker',
+        package='lifecycle', node_executable='lifecycle_talker', output='screen')
+    ld.add_action(talker_node)
+    # When the talker node reaches the PRIMARY_STATE_ACTIVE state, start the listener.
+    ld.add_action(launch.actions.RegisterEventHandler(launch_ros.event_handlers.OnStateTransition(
+        target_lifecycle_node=talker_node, goal_state='active',
+        entities=[
+            launch.actions.LogInfo(
+                msg="lifecycle node 'talker' reached the 'active' state, launching 'listener'."),
+            launch_ros.actions.LifecycleNode(
+                node_name='listener',
+                package='lifecycle', node_executable='lifecycle_listener', output='screen'),
+        ],
+    )))
+
+    # When the talker reaches 'configured', make it take the 'activate' transition.
+    ld.add_action(launch.actions.RegisterEventHandler(launch_ros.event_handlers.OnStateTransition(
+        target_lifecycle_node=talker_node, goal_state='inactive',
+        entities=[
+            launch.actions.LogInfo(
+                msg="lifecycle node 'talker' reached the 'unconfigured' state, 'activating'."),
+            launch.actions.EmitEvent(event=launch_ros.events.lifecycle.ChangeState(
+                lifecycle_node_matcher=launch.events.process.matches_action(talker_node),
+                transition_id=lifecycle_msgs.msg.Transition.TRANSITION_ACTIVATE,
+            )),
+        ],
+    )))
+
+    # Make the talker node take the 'configure' transition.
+    ld.add_action(launch.actions.EmitEvent(event=launch_ros.events.lifecycle.ChangeState(
+        lifecycle_node_matcher=launch.events.process.matches_action(talker_node),
+        transition_id=lifecycle_msgs.msg.Transition.TRANSITION_CONFIGURE,
+    )))
+
+    print('Starting introspection of launch description...')
+    print('')
+
+    print(launch.LaunchIntrospector().format_launch_description(ld))
+
+    print('')
+    print('Starting launch of launch description...')
+    print('')
+
+    # ls = LaunchService(argv=argv, debug=True)
+    ls = launch.LaunchService(argv=argv)
+    ls.include_launch_description(get_default_ros_launch_description(prefix_output_with_name=False))
+    ls.include_launch_description(ld)
+    ls.run()
+
+
+if __name__ == '__main__':
+    main()

launch_ros/examples/pub_sub_launch.py

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+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+"""Launch a talker and a listener."""
+
+import os
+import sys
+sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..'))  # noqa
+sys.path.insert(0, os.path.join(os.path.dirname(__file__), '..', '..', 'launch'))  # noqa
+
+from launch import LaunchDescription
+from launch import LaunchIntrospector
+from launch import LaunchService
+
+import launch_ros.actions
+from launch_ros import get_default_ros_launch_description
+
+
+def main(argv=sys.argv[1:]):
+    """Main."""
+    ld = LaunchDescription([
+        launch_ros.actions.Node(
+            package='demo_nodes_cpp', node_executable='talker', output='screen'),
+        launch_ros.actions.Node(
+            package='demo_nodes_cpp', node_executable='listener', output='screen'),
+    ])
+
+    print('Starting introspection of launch description...')
+    print('')
+
+    print(LaunchIntrospector().format_launch_description(ld))
+
+    print('')
+    print('Starting launch of launch description...')
+    print('')
+
+    # ls = LaunchService(debug=True)
+    ls = LaunchService()
+    ls.include_launch_description(get_default_ros_launch_description(prefix_output_with_name=False))
+    ls.include_launch_description(ld)
+    ls.run()
+
+
+if __name__ == '__main__':
+    main()

launch_ros/launch_ros/__init__.py

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+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+"""Main entry point for the `launch_ros` package."""
+
+from . import actions
+from . import event_handlers
+from . import events
+from . import substitutions
+from .default_launch_description import get_default_ros_launch_description
+
+__all__ = [
+    'actions',
+    'event_handlers',
+    'events',
+    'substitutions',
+    'get_default_ros_launch_description',
+]

launch_ros/launch_ros/actions/__init__.py

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+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+"""actions Module."""
+
+from .lifecycle_node import LifecycleNode
+from .node import Node
+
+__all__ = [
+    'LifecycleNode',
+    'Node',
+]

launch_ros/launch_ros/actions/component_node.py

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+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+"""Module for the ComponentNode action."""
+
+import logging
+from typing import List
+from typing import Optional
+
+from launch.action import Action
+from launch.launch_context import LaunchContext
+from launch.some_substitutions_type import SomeSubstitutionsType
+from launch.substitutions import LaunchConfiguration
+
+from .node import Node
+from ..substitutions import ExecutableInPackage
+
+_logger = logging.getLogger(name='launch_ros.component_node')
+
+
+class ComponentNode(Action):
+    """Action that wraps a launch_ros.actions.Node and loads it into a node container."""
+
+    def __init__(
+        self, *,
+        node: Node,
+        node_container_name: SomeSubstitutionsType = LaunchConfiguration(name='node_container'),
+    ) -> None:
+        """
+        Construct an ComponentNode action.
+
+        This takes exactly one Node action, and does not visit it, but instead
+        uses the information within it to instead load it into a node container
+        by name.
+
+        If no container name is given, it will attempt to be loaded from the
+        launch configurations under the name 'node_container'.
+        If not found there, a SubstitutionFailure error will occur.
+
+        If the given node does not exist, it will fail the same as with the
+        Node action used normally.
+        If the given node exists, but is not a component-style node, a
+        ValueError will occur.
+
+        :param: node the Node action from which the component should be loaded
+        :param: node_container_name the name of the node container to load into
+        """
+        cmd = [ExecutableInPackage(package=package, executable=node_executable)]
+        cmd += [] if arguments is None else arguments
+        super().__init__(cmd=cmd, **kwargs)
+        self.__package = package
+        self.__node_executable = node_executable
+        self.__arguments = arguments
+
+    def execute(self, context: LaunchContext) -> Optional[List[Action]]:
+        """
+        Execute the action.
+
+        Delegated to :meth:`launch.actions.ExecuteProcess.execute`.
+        """
+        return super().execute(context)