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[ros2] Uncommenting bond option on spawn_entity (wait Ctrl+C then remove entity) #986

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merged 2 commits into from
Aug 29, 2019
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[ros2] Uncommenting bond option on spawn_entity (wait Ctrl+C then remove entity) #986

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Uncommenting bond option on spawn_entity (wait Ctrl+C then remove ent…
alexfneves Aug 25, 2019
e6a00bd
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chapulina Aug 29, 2019
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60 changes: 31 additions & 29 deletions gazebo_ros/scripts/spawn_entity.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@
from xml.etree import ElementTree

from gazebo_msgs.msg import ModelStates
# from gazebo_msgs.srv import DeleteEntity
from gazebo_msgs.srv import DeleteEntity
# from gazebo_msgs.srv import SetModelConfiguration
from gazebo_msgs.srv import SpawnEntity
from geometry_msgs.msg import Pose
Expand Down Expand Up @@ -97,9 +97,8 @@ def __init__(self, args):
parser.add_argument('-package_to_model', action='store_true', help='convert urdf \
<mesh filename="package://..." to <mesh filename="model://..."')

# TODO(shivesh): Wait for https://github.com/ros2/rclpy/issues/244
# parser.add_argument('-b', dest='bond', action='store_true', help='bond to gazebo \
# and delete the entity when this program is interrupted')
parser.add_argument('-b', dest='bond', action='store_true', help='bond to gazebo \
and delete the entity when this program is interrupted')
self.args = parser.parse_args(args[1:])

# TODO(shivesh): Wait for /set_model_configuration
Expand Down Expand Up @@ -240,12 +239,15 @@ def entity_xml_cb(msg):
self.get_logger().error('Service %s/unpause_physics unavailable. \
Was Gazebo started with GazeboRosInit?')

# TODO(shivesh): Wait for https://github.com/ros2/rclpy/issues/244
# If bond enabled, setup shutdown callback and wait for shutdown
# if self.args.bond:
# rospy.on_shutdown(self._delete_entity)
# rospy.loginfo('Waiting for shutdown to delete entity {}'.format(self.args.entity))
# rospy.spin()
if self.args.bond:
self.get_logger().info('Waiting for shutdown to delete ' +
'entity [{}]'.format(self.args.entity))
try:
rclpy.spin(self)
except KeyboardInterrupt:
self.get_logger().info('Ctrl-C detected')
self._delete_entity()

return 0

Expand All @@ -272,26 +274,26 @@ def _spawn_entity(self, entity_xml, initial_pose):
return False

# TODO(shivesh): Wait for https://github.com/ros2/rclpy/issues/244
# def _delete_entity(self):
# # Delete entity from gazebo on shutdown if bond flag enabled
# self.get_logger().info('Deleting entity {}'.format(self.args.entity))
# client = self.create_client(
# DeleteEntity, '%s/delete_entity' % self.args.gazebo_namespace)
# if client.wait_for_service(timeout_sec=5.0):
# req = DeleteEntity.Request()
# req.name = self.args.entity
# self.get_logger().info(
# 'Calling service %s/delete_entity' % self.args.gazebo_namespace)
# srv_call = client.call_async(req)
# while rclpy.ok():
# if srv_call.done():
# self.get_logger().info(
# 'Deleting status: %s' % srv_call.result().status_message)
# break
# rclpy.spin_once(self)
# else:
# self.get_logger().error('Service %s/delete_entity unavailable. \
# Was Gazebo started with GazeboRosFactory?')
def _delete_entity(self):
# Delete entity from gazebo on shutdown if bond flag enabled
self.get_logger().info('Deleting entity [{}]'.format(self.args.entity))
client = self.create_client(
DeleteEntity, '%s/delete_entity' % self.args.gazebo_namespace)
if client.wait_for_service(timeout_sec=5.0):
req = DeleteEntity.Request()
req.name = self.args.entity
self.get_logger().info(
'Calling service %s/delete_entity' % self.args.gazebo_namespace)
srv_call = client.call_async(req)
while rclpy.ok():
if srv_call.done():
self.get_logger().info(
'Deleting status: %s' % srv_call.result().status_message)
break
rclpy.spin_once(self)
else:
self.get_logger().error('Service %s/delete_entity unavailable. ' +
'Was Gazebo started with GazeboRosFactory?')

# def _set_model_configuration(self, joint_names, joint_positions):
# self.get_logger().info(
Expand Down