ros2node info: add action category #345

claireyywang · 2019-10-02T23:15:06Z

Signed-off-by: claireyywang clairewang@openrobotics.org

Resolves #344

Adds separate action category to ros2 node info. Output looks like

clairewang@karr:~/ros2_ws/src/ros2/ros2cli/ros2node$ ros2 node info /fibonacci_action_server /fibonacci_action_server
  Subscribers:

  Publishers:
    /fibonacci/_action/feedback: action_tutorials_interfaces/action/Fibonacci_FeedbackMessage
    /fibonacci/_action/status: action_msgs/msg/GoalStatusArray
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rosout: rcl_interfaces/msg/Log
  Services:
    /fibonacci/_action/cancel_goal: action_msgs/srv/CancelGoal
    /fibonacci/_action/get_result: action_tutorials_interfaces/action/Fibonacci_GetResult
    /fibonacci/_action/send_goal: action_tutorials_interfaces/action/Fibonacci_SendGoal
    /fibonacci_action_server/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /fibonacci_action_server/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /fibonacci_action_server/get_parameters: rcl_interfaces/srv/GetParameters
    /fibonacci_action_server/list_parameters: rcl_interfaces/srv/ListParameters
    /fibonacci_action_server/set_parameters: rcl_interfaces/srv/SetParameters
    /fibonacci_action_server/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
  Actions:
    /fibonacci: action_tutorials_interfaces/action/Fibonacci

Should I also modify Services category? It seems to include more than what's mentioned in #344

Signed-off-by: claireyywang <clairewang@openrobotics.org>

maryaB-osr · 2019-10-02T23:35:27Z

Should I also modify Services category? It seems to include more than what's mentioned in #344

Yup, sorry I didn't really explain that part in the initial issue. All the results with /_action/ in the name are supposed to be hidden (leading underscore = hidden namespace)

The output should be like this comment. Also, did nothing come up under Subscribers:? There was a result under that category before

mjcarroll · 2019-10-03T09:02:39Z

I would propose adding --include-hidden much like:

ros2cli/ros2topic/ros2topic/verb/list.py

Line 33 in 3c30b34

parser.add_argument(

mjcarroll · 2019-10-03T09:03:42Z

Also, did nothing come up under Subscribers:? There was a result under that category before

I believe because this is the Fibonacci example, there wouldn't be any subscribers, maybe turtlesim would be more representative now that an action has been included.

jacobperron

This is definitely an improvement 👍

I think it would be even better if instead of a single list of actions, we made two lists for action clients and action servers, e.g.

  Subscribers:

  Publishers:
    /fibonacci/_action/feedback: action_tutorials_interfaces/action/Fibonacci_FeedbackMessage
    /fibonacci/_action/status: action_msgs/msg/GoalStatusArray
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rosout: rcl_interfaces/msg/Log
  Services:
    /fibonacci/_action/cancel_goal: action_msgs/srv/CancelGoal
    /fibonacci/_action/get_result: action_tutorials_interfaces/action/Fibonacci_GetResult
    /fibonacci/_action/send_goal: action_tutorials_interfaces/action/Fibonacci_SendGoal
    /fibonacci_action_server/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /fibonacci_action_server/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /fibonacci_action_server/get_parameters: rcl_interfaces/srv/GetParameters
    /fibonacci_action_server/list_parameters: rcl_interfaces/srv/ListParameters
    /fibonacci_action_server/set_parameters: rcl_interfaces/srv/SetParameters
    /fibonacci_action_server/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
  Actions clients:

  Action servers:
    /fibonacci: action_tutorials_interfaces/action/Fibonacci

It should be possible with the action graph functions: get_action_client_names_and_types_by_node and get_action_server_names_and_types_by_node.

The same could be done for services, i.e. splitting it into two lists for distinguishing clients from servers (but I would worry about services in a separate PR).

accidental

jacobperron · 2019-10-03T17:01:09Z

I think that hiding the hidden services and topics related to actions can be addressed in a follow-up PR (or this one if you like), since it's kind of a separate issue.

claireyywang · 2019-10-03T17:29:08Z

I think that hiding the hidden services and topics related to actions can be addressed in a follow-up PR (or this one if you like), since it's kind of a separate issue.

I'll split up the action into client and server, then make another PR hiding the hidden services and splitting service into client and server.

Signed-off-by: claireyywang <clairewang@openrobotics.org>

jacobperron

Some nitpicks about indentation, otherwise LGTM with green CI

jacobperron · 2019-10-03T18:28:42Z

ros2node/ros2node/api/__init__.py

+def get_action_server_info(*, node, remote_node_name):
+    remote_node = parse_node_name(remote_node_name)
+    names_and_types = get_action_server_names_and_types_by_node(
+                        node, remote_node.name, remote_node.namespace)


nitpick: Though PEP 8 states that 4-space indentation is optional for continuation lines, I think it is preferred when possible (e.g. when it doesn't lead to visual ambiguity). I think it would also look more consistent with our Python code elsewhere if this were indented 4 spaces.

Same for other instances below.

jacobperron · 2019-10-03T18:29:04Z

ros2node/ros2node/api/__init__.py

+def get_action_client_info(*, node, remote_node_name):
+    remote_node = parse_node_name(remote_node_name)
+    names_and_types = get_action_client_names_and_types_by_node(
+                        node, remote_node.name, remote_node.namespace)


nit: use 4-space indentation

jacobperron · 2019-10-03T18:29:11Z

ros2node/ros2node/verb/info.py

@@ -52,5 +54,13 @@ def main(self, *, args):
                services = get_service_info(node=node, remote_node_name=args.node_name)
                print('  Services:')
                print_names_and_types(services)
+                actions_servers = get_action_server_info(
+                                    node=node, remote_node_name=args.node_name)


nit: use 4-space indentation

jacobperron · 2019-10-03T18:29:17Z

ros2node/ros2node/verb/info.py

+                print('  Actions Servers:')
+                print_names_and_types(actions_servers)
+                actions_clients = get_action_client_info(
+                                    node=node, remote_node_name=args.node_name)


nit: use 4-space indentation

Signed-off-by: claireyywang <clairewang@openrobotics.org>

claireyywang · 2019-10-03T18:59:48Z

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add action category

ec72b72

Signed-off-by: claireyywang <clairewang@openrobotics.org>

claireyywang added the in review Waiting for review (Kanban column) label Oct 2, 2019

claireyywang requested review from jacobperron and maryaB-osr October 2, 2019 23:15

claireyywang self-assigned this Oct 2, 2019

correct node param

bdf5894

Signed-off-by: claireyywang <clairewang@openrobotics.org>

claireyywang added in progress Actively being worked on (Kanban column) and removed in review Waiting for review (Kanban column) labels Oct 2, 2019

jacobperron previously approved these changes Oct 3, 2019

View reviewed changes

split action into server and client

c92e7ef

Signed-off-by: claireyywang <clairewang@openrobotics.org>

claireyywang added in review Waiting for review (Kanban column) and removed in progress Actively being worked on (Kanban column) labels Oct 3, 2019

claireyywang requested a review from jacobperron October 3, 2019 18:00

jacobperron approved these changes Oct 3, 2019

View reviewed changes

fix indentation

0304113

Signed-off-by: claireyywang <clairewang@openrobotics.org>

claireyywang merged commit 4384453 into master Oct 3, 2019

delete-merged-branch bot deleted the claire/ros2node-add-action-category branch October 3, 2019 20:12

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ros2node info: add action category #345

ros2node info: add action category #345

claireyywang commented Oct 2, 2019

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ros2node info: add action category #345

ros2node info: add action category #345

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