Extra parameter to start a container (#616)

Signed-off-by: Carlos Agüero <[email protected]>

Author: caguero

ros_gz_bridge/launch/ros_gz_bridge.launch

@@ -2,14 +2,16 @@
   <arg name="bridge_name" />
   <arg name="config_file" />
   <arg name="container_name" default="ros_gz_container" />
+  <arg name="create_own_container" default="False" />
   <arg name="namespace" default="" />
-  <arg name="use_composition" default="True" />
+  <arg name="use_composition" default="False" />
   <arg name="use_respawn" default="False" />
   <arg name="log_level" default="info" />
   <ros_gz_bridge
     bridge_name="$(var bridge_name)"
     config_file="$(var config_file)"
     container_name="$(var container_name)"
+    create_own_container="$(var create_own_container)"
     namespace="$(var namespace)"
     use_composition="$(var use_composition)"
     use_respawn="$(var use_respawn)"

ros_gz_bridge/launch/ros_gz_bridge.launch.py

@@ -18,7 +18,7 @@
 from launch.actions import DeclareLaunchArgument, GroupAction
 from launch.conditions import IfCondition
 from launch.substitutions import LaunchConfiguration, PythonExpression
-from launch_ros.actions import LoadComposableNodes, Node
+from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes, Node
 from launch_ros.descriptions import ComposableNode
 
 
@@ -27,6 +27,7 @@ def generate_launch_description():
     bridge_name = LaunchConfiguration('bridge_name')
     config_file = LaunchConfiguration('config_file')
     container_name = LaunchConfiguration('container_name')
+    create_own_container = LaunchConfiguration('create_own_container')
     namespace = LaunchConfiguration('namespace')
     use_composition = LaunchConfiguration('use_composition')
     use_respawn = LaunchConfiguration('use_respawn')
@@ -46,12 +47,21 @@ def generate_launch_description():
         description='Name of container that nodes will load in if use composition',
     )
 
+    declare_create_own_container_cmd = DeclareLaunchArgument(
+        'create_own_container',
+        default_value='False',
+        description='Whether the bridge should start its own ROS container when using composition \
+          (not recommended). This option should only be set to true if you plan to put your ROS \
+          node in the container created by the bridge. This is not needed if you want Gazebo and \
+          the bridge to be in the same ROS container.',
+    )
+
     declare_namespace_cmd = DeclareLaunchArgument(
         'namespace', default_value='', description='Top-level namespace'
     )
 
     declare_use_composition_cmd = DeclareLaunchArgument(
-        'use_composition', default_value='True', description='Use composed bringup if True'
+        'use_composition', default_value='False', description='Use composed bringup if True'
     )
 
     declare_use_respawn_cmd = DeclareLaunchArgument(
@@ -81,8 +91,29 @@ def generate_launch_description():
         ],
     )
 
-    load_composable_nodes = LoadComposableNodes(
-        condition=IfCondition(use_composition),
+    load_composable_nodes_with_container = ComposableNodeContainer(
+        condition=IfCondition(
+            PythonExpression([use_composition, ' and ', create_own_container])),
+        name=LaunchConfiguration('container_name'),
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
+            ComposableNode(
+                package='ros_gz_bridge',
+                plugin='ros_gz_bridge::RosGzBridge',
+                name=bridge_name,
+                namespace=namespace,
+                parameters=[{'config_file': config_file}],
+                extra_arguments=[{'use_intra_process_comms': True}],
+            ),
+        ],
+        output='screen',
+    )
+
+    load_composable_nodes_without_container = LoadComposableNodes(
+        condition=IfCondition(
+            PythonExpression([use_composition, ' and not ', create_own_container])),
         target_container=container_name,
         composable_node_descriptions=[
             ComposableNode(
@@ -103,12 +134,14 @@ def generate_launch_description():
     ld.add_action(declare_bridge_name_cmd)
     ld.add_action(declare_config_file_cmd)
     ld.add_action(declare_container_name_cmd)
+    ld.add_action(declare_create_own_container_cmd)
     ld.add_action(declare_namespace_cmd)
     ld.add_action(declare_use_composition_cmd)
     ld.add_action(declare_use_respawn_cmd)
     ld.add_action(declare_log_level_cmd)
     # Add the actions to launch all of the bridge nodes
     ld.add_action(load_nodes)
-    ld.add_action(load_composable_nodes)
+    ld.add_action(load_composable_nodes_with_container)
+    ld.add_action(load_composable_nodes_without_container)
 
     return ld

ros_gz_bridge/ros_gz_bridge/actions/ros_gz_bridge.py

@@ -37,8 +37,9 @@ def __init__(
         bridge_name: SomeSubstitutionsType,
         config_file: SomeSubstitutionsType,
         container_name: Optional[SomeSubstitutionsType] = 'ros_gz_container',
+        create_own_container: Optional[SomeSubstitutionsType] = 'False',
         namespace: Optional[SomeSubstitutionsType] = '',
-        use_composition: Optional[SomeSubstitutionsType] = 'True',
+        use_composition: Optional[SomeSubstitutionsType] = 'False',
         use_respawn: Optional[SomeSubstitutionsType] = 'False',
         log_level: Optional[SomeSubstitutionsType] = 'info',
         **kwargs
@@ -52,6 +53,7 @@ def __init__(
         :param: bridge_name Name of ros_gz_bridge  node
         :param: config_file YAML config file.
         :param: container_name Name of container that nodes will load in if use composition.
+        :param: create_own_container Whether to start a ROS container when using composition.
         :param: namespace Top-level namespace.
         :param: use_composition Use composed bringup if True.
         :param: use_respawn Whether to respawn if a node crashes (when composition is disabled).
@@ -61,6 +63,7 @@ def __init__(
         self.__bridge_name = bridge_name
         self.__config_file = config_file
         self.__container_name = container_name
+        self.__create_own_container = create_own_container
         self.__namespace = namespace
         self.__use_composition = use_composition
         self.__use_respawn = use_respawn
@@ -83,6 +86,10 @@ def parse(cls, entity: Entity, parser: Parser):
             'container_name', data_type=str,
             optional=True)
 
+        create_own_container = entity.get_attr(
+            'create_own_container', data_type=str,
+            optional=True)
+
         namespace = entity.get_attr(
             'namespace', data_type=str,
             optional=True)
@@ -111,6 +118,11 @@ def parse(cls, entity: Entity, parser: Parser):
             container_name = parser.parse_substitution(container_name)
             kwargs['container_name'] = container_name
 
+        if isinstance(create_own_container, str):
+            create_own_container = \
+                parser.parse_substitution(create_own_container)
+            kwargs['create_own_container'] = create_own_container
+
         if isinstance(namespace, str):
             namespace = parser.parse_substitution(namespace)
             kwargs['namespace'] = namespace
@@ -139,6 +151,7 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
             launch_arguments=[('bridge_name', self.__bridge_name),
                               ('config_file', self.__config_file),
                               ('container_name', self.__container_name),
+                              ('create_own_container', self.__create_own_container),
                               ('namespace',   self.__namespace),
                               ('use_composition',  self.__use_composition),
                               ('use_respawn',  self.__use_respawn),

ros_gz_sim/launch/gz_server.launch

@@ -2,11 +2,13 @@
   <arg name="world_sdf_file" default="empty.sdf" />
   <arg name="world_sdf_string" default="" />
   <arg name="container_name" default="ros_gz_container" />
-  <arg name="use_composition" default="True" />
+  <arg name="create_own_container" default="False" />
+  <arg name="use_composition" default="False" />
   <gz_server 
     world_sdf_file="$(var world_sdf_file)"
     world_sdf_string="$(var world_sdf_string)"
     container_name="$(var container_name)"
+    create_own_container="$(var create_own_container)"
     use_composition="$(var use_composition)">
   </gz_server>
 </launch>

ros_gz_sim/launch/gz_server.launch.py

@@ -18,7 +18,7 @@
 from launch.actions import DeclareLaunchArgument
 from launch.conditions import IfCondition
 from launch.substitutions import LaunchConfiguration, PythonExpression, TextSubstitution
-from launch_ros.actions import ComposableNodeContainer, Node
+from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes, Node
 from launch_ros.descriptions import ComposableNode
 
 
@@ -33,8 +33,11 @@ def generate_launch_description():
     declare_container_name_cmd = DeclareLaunchArgument(
         'container_name', default_value='ros_gz_container',
         description='Name of container that nodes will load in if use composition',)
+    declare_create_own_container_cmd = DeclareLaunchArgument(
+        'create_own_container', default_value='False',
+        description='Whether we should start our own ROS container when using composition.',)
     declare_use_composition_cmd = DeclareLaunchArgument(
-        'use_composition', default_value='True',
+        'use_composition', default_value='False',
         description='Use composed bringup if True')
 
     load_nodes = Node(
@@ -46,8 +49,10 @@ def generate_launch_description():
                      'world_sdf_string': LaunchConfiguration('world_sdf_string')}],
     )
 
-    load_composable_nodes = ComposableNodeContainer(
-        condition=IfCondition(LaunchConfiguration('use_composition')),
+    load_composable_nodes_with_container = ComposableNodeContainer(
+        condition=IfCondition(
+            PythonExpression([LaunchConfiguration('use_composition'), ' and ',
+                              LaunchConfiguration('create_own_container')])),
         name=LaunchConfiguration('container_name'),
         namespace='',
         package='rclcpp_components',
@@ -65,16 +70,35 @@ def generate_launch_description():
         output='screen',
     )
 
+    load_composable_nodes_without_container = LoadComposableNodes(
+        condition=IfCondition(
+            PythonExpression([LaunchConfiguration('use_composition'), ' and not ',
+                              LaunchConfiguration('create_own_container')])),
+        target_container=LaunchConfiguration('container_name'),
+        composable_node_descriptions=[
+            ComposableNode(
+                package='ros_gz_sim',
+                plugin='ros_gz_sim::GzServer',
+                name='gz_server',
+                parameters=[{'world_sdf_file': LaunchConfiguration('world_sdf_file'),
+                             'world_sdf_string': LaunchConfiguration('world_sdf_string')}],
+                extra_arguments=[{'use_intra_process_comms': True}],
+            ),
+        ],
+    )
+
     # Create the launch description and populate
     ld = LaunchDescription()
 
     # Declare the launch options
     ld.add_action(declare_world_sdf_file_cmd)
     ld.add_action(declare_world_sdf_string_cmd)
     ld.add_action(declare_container_name_cmd)
+    ld.add_action(declare_create_own_container_cmd)
     ld.add_action(declare_use_composition_cmd)
     # Add the actions to launch all of the gz_server nodes
     ld.add_action(load_nodes)
-    ld.add_action(load_composable_nodes)
+    ld.add_action(load_composable_nodes_with_container)
+    ld.add_action(load_composable_nodes_without_container)
 
     return ld

ros_gz_sim/launch/ros_gz_sim.launch

@@ -2,8 +2,9 @@
   <arg name="bridge_name" />
   <arg name="config_file" />
   <arg name="container_name" default="ros_gz_container" />
+  <arg name="create_own_container" default="False" />
   <arg name="namespace" default="" />
-  <arg name="use_composition" default="True" />
+  <arg name="use_composition" default="False" />
   <arg name="use_respawn" default="False" />
   <arg name="log_level" default="info" />
   <arg name="world_sdf_file" default="empty.sdf" />
@@ -12,12 +13,14 @@
     world_sdf_file="$(var world_sdf_file)"
     world_sdf_string="$(var world_sdf_string)"
     container_name="$(var container_name)"
+    create_own_container="$(var create_own_container)"
     use_composition="$(var use_composition)">
   </gz_server>
   <ros_gz_bridge
     bridge_name="$(var bridge_name)"
     config_file="$(var config_file)"
     container_name="$(var container_name)"
+    create_own_container="False"
     namespace="$(var namespace)"
     use_composition="$(var use_composition)"
     use_respawn="$(var use_respawn)"

ros_gz_sim/launch/ros_gz_sim.launch.py

@@ -26,6 +26,7 @@ def generate_launch_description():
     bridge_name = LaunchConfiguration('bridge_name')
     config_file = LaunchConfiguration('config_file')
     container_name = LaunchConfiguration('container_name')
+    create_own_container = LaunchConfiguration('create_own_container')
     namespace = LaunchConfiguration('namespace')
     use_composition = LaunchConfiguration('use_composition')
     use_respawn = LaunchConfiguration('use_respawn')
@@ -48,12 +49,18 @@ def generate_launch_description():
         description='Name of container that nodes will load in if use composition',
     )
 
+    declare_create_own_container_cmd = DeclareLaunchArgument(
+        'create_own_container',
+        default_value='False',
+        description='Whether we should start a ROS container when using composition.',
+    )
+
     declare_namespace_cmd = DeclareLaunchArgument(
         'namespace', default_value='', description='Top-level namespace'
     )
 
     declare_use_composition_cmd = DeclareLaunchArgument(
-        'use_composition', default_value='True', description='Use composed bringup if True'
+        'use_composition', default_value='False', description='Use composed bringup if True'
     )
 
     declare_use_respawn_cmd = DeclareLaunchArgument(
@@ -96,6 +103,8 @@ def generate_launch_description():
                                    'gz_server.launch.py'])]),
         launch_arguments=[('world_sdf_file', world_sdf_file),
                           ('world_sdf_string', world_sdf_string),
+                          ('container_name', container_name),
+                          ('create_own_container', create_own_container),
                           ('use_composition', use_composition), ])
 
     # Create the launch description and populate
@@ -105,6 +114,7 @@ def generate_launch_description():
     ld.add_action(declare_bridge_name_cmd)
     ld.add_action(declare_config_file_cmd)
     ld.add_action(declare_container_name_cmd)
+    ld.add_action(declare_create_own_container_cmd)
     ld.add_action(declare_namespace_cmd)
     ld.add_action(declare_use_composition_cmd)
     ld.add_action(declare_use_respawn_cmd)

ros_gz_sim/ros_gz_sim/actions/gzserver.py

@@ -37,7 +37,8 @@ def __init__(
         world_sdf_file: Optional[SomeSubstitutionsType] = '',
         world_sdf_string: Optional[SomeSubstitutionsType] = '',
         container_name: Optional[SomeSubstitutionsType] = 'ros_gz_container',
-        use_composition: Optional[SomeSubstitutionsType] = 'True',
+        create_own_container: Optional[SomeSubstitutionsType] = 'False',
+        use_composition: Optional[SomeSubstitutionsType] = 'False',
         **kwargs
     ) -> None:
         """
@@ -49,12 +50,14 @@ def __init__(
         :param: world_sdf_file Path to the SDF world file.
         :param: world_sdf_string SDF world string.
         :param: container_name Name of container that nodes will load in if use composition.
+        :param: create_own_container Whether to start a ROS container when using composition.
         :param: use_composition Use composed bringup if True.
         """
         super().__init__(**kwargs)
         self.__world_sdf_file = world_sdf_file
         self.__world_sdf_string = world_sdf_string
         self.__container_name = container_name
+        self.__create_own_container = create_own_container
         self.__use_composition = use_composition
 
     @classmethod
@@ -74,6 +77,10 @@ def parse(cls, entity: Entity, parser: Parser):
             'container_name', data_type=str,
             optional=True)
 
+        create_own_container = entity.get_attr(
+            'create_own_container', data_type=str,
+            optional=True)
+
         use_composition = entity.get_attr(
             'use_composition', data_type=str,
             optional=True)
@@ -90,6 +97,11 @@ def parse(cls, entity: Entity, parser: Parser):
             container_name = parser.parse_substitution(container_name)
             kwargs['container_name'] = container_name
 
+        if isinstance(create_own_container, str):
+            create_own_container = \
+                parser.parse_substitution(create_own_container)
+            kwargs['create_own_container'] = create_own_container
+
         if isinstance(use_composition, str):
             use_composition = parser.parse_substitution(use_composition)
             kwargs['use_composition'] = use_composition
@@ -106,6 +118,7 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
             launch_arguments=[('world_sdf_file', self.__world_sdf_file),
                               ('world_sdf_string', self.__world_sdf_string),
                               ('container_name',   self.__container_name),
+                              ('create_own_container', self.__create_own_container),
                               ('use_composition',  self.__use_composition), ])
 
         return [gz_server_description]