Support container in frontend #235

kenji-miyake · 2021-05-06T13:31:26Z

Hello, I've added container support in launch frontend because it seems nothing is going on after #77.

I read https://answers.ros.org/question/333404/launch-composed-nodes-using-the-launch-xml-frontend/ and followed @ivanpauno's suggestion.

@ivanpauno Could you review this, please?

Following is the launch file I used.

// sample.launch.xml
<launch>
  <node_container pkg="rclcpp_components" exec="component_container" name="my_container" namespace="" args="test_args">
    <composable_node pkg="composition" plugin="composition::Talker" name="talker" namespace="test_namespace">
      <remap from="chatter" to="/remap/chatter" />
      <param name="use_sim_time" value="true"/>
      <extra_arg name="use_intra_process_comms" value="true"/>
    </composable_node>
  </node_container>

  <load_composable_node target="my_container">
    <composable_node pkg="composition" plugin="composition::Listener" name="listener" namespace="test_namespace">
      <remap from="chatter" to="/remap/chatter" />
      <param name="use_sim_time" value="true"/>
      <extra_arg name="use_intra_process_comms" value="true"/>
    </composable_node>
  </load_composable_node>
</launch>

How to test

$ ros2 launch sample_container.launch.xml
[INFO] [launch]: All log files can be found below /home/kenji/.ros/log/2021-05-06-22-29-14-382250-desktop-3799342
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [3799366]
[component_container-1] [INFO 1620307754.832549812] [my_container]: Load Library: /opt/ros/rolling/lib/libtalker_component.so
[component_container-1] [INFO 1620307754.833179414] [my_container]: Found class: rclcpp_components::NodeFactoryTemplate<composition::Talker>
[component_container-1] [INFO 1620307754.833199314] [my_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<composition::Talker>
[component_container-1] [INFO 1620307754.837469835] [my_container]: Load Library: /opt/ros/rolling/lib/liblistener_component.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/test_namespace/talker' in container '/my_container'
[component_container-1] [INFO 1620307754.838234197] [my_container]: Found class: rclcpp_components::NodeFactoryTemplate<composition::Listener>
[component_container-1] [INFO 1620307754.838254847] [my_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<composition::Listener>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/test_namespace/listener' in container 'my_container'
[component_container-1] [INFO 1620307755.837301844] [test_namespace.talker]: Publishing: 'Hello World: 1'
[component_container-1] [INFO 1620307755.837412384] [test_namespace.listener]: I heard: [Hello World: 1]
[component_container-1] [INFO 1620307756.837283640] [test_namespace.talker]: Publishing: 'Hello World: 2'
[component_container-1] [INFO 1620307756.837384780] [test_namespace.listener]: I heard: [Hello World: 2]
[component_container-1] [INFO 1620307757.837282930] [test_namespace.talker]: Publishing: 'Hello World: 3'
[component_container-1] [INFO 1620307757.837388000] [test_namespace.listener]: I heard: [Hello World: 3]

In another terminal,

# Check namespace is remapped
$ ros2 node list
/launch_ros_3799880
/my_container
/subscriber
/test_namespace/listener
/test_namespace/talker

# Check topic is remapped
$ ros2 node info /test_namespace/talker
/test_namespace/talker
  Subscribers:
    /clock: rosgraph_msgs/msg/Clock
    /parameter_events: rcl_interfaces/msg/ParameterEvent
  Publishers:
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /remap/chatter: std_msgs/msg/String
    /rosout: rcl_interfaces/msg/Log
  Service Servers:
    /test_namespace/talker/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /test_namespace/talker/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /test_namespace/talker/get_parameters: rcl_interfaces/srv/GetParameters
    /test_namespace/talker/list_parameters: rcl_interfaces/srv/ListParameters
    /test_namespace/talker/set_parameters: rcl_interfaces/srv/SetParameters
    /test_namespace/talker/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
  Service Clients:

  Action Servers:

  Action Clients:

# Check use_sim_time is set to true
$ ros2 param dump --print /test_namespace/talker
/test_namespace/talker:
  ros__parameters:
    qos_overrides:
      /clock:
        subscription:
          depth: 1
          durability: volatile
          history: keep_last
          reliability: best_effort
      /parameter_events:
        publisher:
          depth: 1000
          durability: volatile
          history: keep_last
          reliability: reliable
    use_sim_time: true

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

ivanpauno

Loos pretty good to me, I've left some minor comments

launch_ros/launch_ros/actions/composable_node_container.py

launch_ros/launch_ros/actions/load_composable_nodes.py

kenji-miyake · 2021-05-06T16:34:39Z

@ivanpauno Thank you for your quick review! I'll fix them.

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

launch_ros/launch_ros/actions/load_composable_nodes.py

launch_ros/launch_ros/utilities/parse_composable_node.py

launch_ros/launch_ros/actions/composable_node_container.py

launch_ros/launch_ros/utilities/parse_composable_node.py

launch_ros/launch_ros/actions/composable_node_container.py

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

kenji-miyake · 2021-05-07T08:23:51Z

Fixed except for #235 (comment) (because there was a problem with it).
@ivanpauno @hidmic Could you review again and close resolved comments?

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

hidmic

Overall LGTM pending green CI

launch_ros/launch_ros/descriptions/composable_node.py

launch_ros/launch_ros/actions/composable_node_container.py

launch_ros/launch_ros/actions/load_composable_nodes.py

launch_ros/launch_ros/descriptions/composable_node.py

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

ivanpauno

LGTM, thanks @kenji-miyake !!

ivanpauno · 2021-05-11T16:20:02Z

This PR could use a test case, that could be added here.

hidmic

LGTM too, and I agree with @ivanpauno this could use a few test cases.

Thank you for your contributions @kenji-miyake!

launch_ros/launch_ros/actions/composable_node_container.py

launch_ros/launch_ros/actions/load_composable_nodes.py

jacobperron

Cool, thanks for adding this! LGTM pending some tests.

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

hidmic · 2021-05-20T18:22:55Z

@kenji-miyake friendly ping

kenji-miyake · 2021-05-21T00:23:40Z

@hidmic Oh, I'm sorry. Did you ask me to add tests? I couldn't recognize that from your conversations because there isn't a concrete request, sorry. 😢
I'll try it this weekend!

kenji-miyake · 2021-05-30T14:14:19Z

I'm sorry, I couldn't make time recently. I think I can start to work!

hidmic · 2021-05-31T13:27:05Z

Did you ask me to add tests? I couldn't recognize that from your conversations because there isn't a concrete request, sorry.

Yes! Sorry if it wasn't clear.

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

kenji-miyake · 2021-06-06T18:59:30Z

@hidmic @ivanpauno @jacobperron I'm sorry to be late. Added tests! Could you review again, please? 😄
Although I wasn't sure what level of tests you expected, does this match your expectation?

The following is my test result.

~/launch_test_ws/src/launch_ros/test_launch_ros support-container-in-frontend
❯ pytest -s test/test_launch_ros/frontend/test_component_container.py
=============================================================================================================================================================================================== test session starts ================================================================================================================================================================================================
platform linux -- Python 3.8.5, pytest-6.2.2, py-1.10.0, pluggy-0.13.0
rootdir: /home/kenji/launch_test_ws/src/launch_ros/test_launch_ros, configfile: pytest.ini
plugins: launch-testing-ros-0.14.2, launch-testing-0.17.0, ament-flake8-0.9.6, ament-lint-0.9.6, ament-pep257-0.9.6, ament-xmllint-0.9.6, ament-copyright-0.9.6, cov-2.11.1, asyncio-0.15.1, dash-1.20.0, repeat-0.9.1, rerunfailures-9.1.1, mock-1.10.4, colcon-core-0.6.1
collected 2 items                                                                                                                                                                                                                                                                                                                                                                                                  

test/test_launch_ros/frontend/test_component_container.py [INFO] [launch]: All log files can be found below /home/kenji/.ros/log/2021-06-07-03-55-16-088632-desktop-550780
[INFO] [launch]: Default logging verbosity is set to INFO
1623005716.141647 [0]     pytest: selected interface "lo" is not multicast-capable: disabling multicast
[INFO] [component_container-1]: process started with pid [550855]
[component_container-1] 1623005716.156574 [0] component_: selected interface "lo" is not multicast-capable: disabling multicast
[component_container-1] [INFO 1623005716.400550184] [my_container]: Load Library: /opt/ros/foxy/lib/libtalker_component.so
[component_container-1] [INFO 1623005716.401018869] [my_container]: Found class: rclcpp_components::NodeFactoryTemplate<composition::Talker>
[component_container-1] [INFO 1623005716.401033379] [my_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<composition::Talker>
[component_container-1] [INFO 1623005716.403538496] [my_container]: Load Library: /opt/ros/foxy/lib/liblistener_component.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/test_namespace/talker' in container '/my_container'
[component_container-1] [INFO 1623005716.403958001] [my_container]: Found class: rclcpp_components::NodeFactoryTemplate<composition::Listener>
[component_container-1] [INFO 1623005716.403970261] [my_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<composition::Listener>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/test_namespace/listener' in container 'my_container'
[component_container-1] [INFO 1623005717.403391317] [test_namespace.talker]: Publishing: 'Hello World: 1'
[component_container-1] [INFO 1623005717.403531039] [test_namespace.listener]: I heard: [Hello World: 1]
[component_container-1] [INFO 1623005718.403373227] [test_namespace.talker]: Publishing: 'Hello World: 2'
[component_container-1] [INFO 1623005718.403473408] [test_namespace.listener]: I heard: [Hello World: 2]
[component_container-1] [INFO 1623005719.403712682] [test_namespace.talker]: Publishing: 'Hello World: 3'
[component_container-1] [INFO 1623005719.403811873] [test_namespace.listener]: I heard: [Hello World: 3]
[component_container-1] [INFO 1623005720.403378523] [test_namespace.talker]: Publishing: 'Hello World: 4'
[component_container-1] [INFO 1623005720.403479034] [test_namespace.listener]: I heard: [Hello World: 4]
[INFO] [component_container-1]: sending signal 'SIGINT' to process[component_container-1]
[component_container-1] [INFO 1623005721.403385760] [test_namespace.talker]: Publishing: 'Hello World: 5'
[component_container-1] [INFO 1623005721.403482981] [test_namespace.listener]: I heard: [Hello World: 5]
[component_container-1] [INFO 1623005721.611731658] [rclcpp]: signal_handler(signal_value=2)
[INFO] [component_container-1]: process has finished cleanly [pid 550855]
.[INFO] [launch]: All log files can be found below /home/kenji/.ros/log/2021-06-07-03-55-16-088632-desktop-550780
[INFO] [launch]: Default logging verbosity is set to INFO
1623005721.951976 [0]     pytest: selected interface "lo" is not multicast-capable: disabling multicast
[INFO] [component_container-2]: process started with pid [550887]
[component_container-2] 1623005721.961697 [0] component_: selected interface "lo" is not multicast-capable: disabling multicast
[component_container-2] [INFO 1623005722.206660393] [my_container]: Load Library: /opt/ros/foxy/lib/libtalker_component.so
[component_container-2] [INFO 1623005722.207380071] [my_container]: Found class: rclcpp_components::NodeFactoryTemplate<composition::Talker>
[component_container-2] [INFO 1623005722.207419631] [my_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<composition::Talker>
[component_container-2] [INFO 1623005722.211512605] [my_container]: Load Library: /opt/ros/foxy/lib/liblistener_component.so
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/test_namespace/talker' in container '/my_container'
[component_container-2] [INFO 1623005722.212243743] [my_container]: Found class: rclcpp_components::NodeFactoryTemplate<composition::Listener>
[component_container-2] [INFO 1623005722.212270203] [my_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<composition::Listener>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/test_namespace/listener' in container 'my_container'
[component_container-2] [INFO 1623005723.211132346] [test_namespace.talker]: Publishing: 'Hello World: 1'
[component_container-2] [INFO 1623005723.211273338] [test_namespace.listener]: I heard: [Hello World: 1]
[component_container-2] [INFO 1623005724.211093024] [test_namespace.talker]: Publishing: 'Hello World: 2'
[component_container-2] [INFO 1623005724.211193115] [test_namespace.listener]: I heard: [Hello World: 2]
[component_container-2] [INFO 1623005725.211097102] [test_namespace.talker]: Publishing: 'Hello World: 3'
[component_container-2] [INFO 1623005725.211197673] [test_namespace.listener]: I heard: [Hello World: 3]
[component_container-2] [INFO 1623005726.211102820] [test_namespace.talker]: Publishing: 'Hello World: 4'
[component_container-2] [INFO 1623005726.211201451] [test_namespace.listener]: I heard: [Hello World: 4]
[INFO] [component_container-2]: sending signal 'SIGINT' to process[component_container-2]
[component_container-2] [INFO 1623005727.211125241] [test_namespace.talker]: Publishing: 'Hello World: 5'
[component_container-2] [INFO 1623005727.211216542] [test_namespace.listener]: I heard: [Hello World: 5]
[component_container-2] [INFO 1623005727.421546433] [rclcpp]: signal_handler(signal_value=2)
[INFO] [component_container-2]: process has finished cleanly [pid 550887]
.

================================================================================================================================================================================================ 2 passed in 11.69s ================================================================================================================================================================================================

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

ivanpauno

The added test seems reasonable to me!

test_launch_ros/test/test_launch_ros/frontend/test_component_container.py

hidmic

LGTM with @ivanpauno comment addressed.

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

ivanpauno · 2021-06-07T14:14:45Z

CI:

Linux
Linux-aarch64
macOS
Windows

ivanpauno · 2021-06-08T20:22:51Z

Thanks for the contribution @kenji-miyake !!

Support container in frontend

2634249

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

ivanpauno reviewed May 6, 2021

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ivanpauno requested a review from hidmic May 6, 2021 14:38

ivanpauno added the enhancement New feature or request label May 6, 2021

Add parser.parse_substitutions

155253e

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

hidmic reviewed May 6, 2021

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Kenji Miyake added 4 commits May 7, 2021 14:50

Fix import order

0eceb08

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Remove optional of composable_node in load_composable_node

2248138

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Remove unnecessary lines

b92e4c4

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Return (cls, kwargs)

498469b

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Move parse_composable_node to ComposableNode class

c119e94

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

kenji-miyake force-pushed the support-container-in-frontend branch from c93d435 to c119e94 Compare May 7, 2021 18:16

Change parse to classmethod

b2f62e6

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Kenji Miyake added 2 commits May 11, 2021 11:54

Fix return style

88e894b

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Improve readability

cb67451

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kenji-miyake force-pushed the support-container-in-frontend branch from dad664d to cb67451 Compare May 11, 2021 04:13

Kenji Miyake added 2 commits May 11, 2021 13:43

Add assert_entity_completely_parsed

b1412a0

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Fix parse of extra_arguments

da1f68c

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Use returned class object

c7accb5

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Add test_component_container.py

7c5ecb9

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kenji-miyake force-pushed the support-container-in-frontend branch from db96302 to 7c5ecb9 Compare June 6, 2021 18:55

Fix lint

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Fix function name

440dadc

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

ivanpauno merged commit e2abd4b into ros2:master Jun 8, 2021

kenji-miyake deleted the support-container-in-frontend branch June 9, 2021 04:10

youliangtan mentioned this pull request Oct 7, 2021

add launch composition example for depthai_ros_driver osrf/depthai_ros#6

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ROS 2 Humble needed release notes ros2/ros2_documentation#2446

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Support container in frontend #235

Support container in frontend #235

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Support container in frontend #235

Support container in frontend #235

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kenji-miyake commented May 6, 2021

How to test

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