srdf publisher node #2682
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| add_library(srdf_publisher_node SHARED src/srdf_publisher_node.cpp) | ||
| ament_target_dependencies(srdf_publisher_node PUBLIC std_msgs rclcpp | ||
| rclcpp_components) | ||
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| if(BUILD_TESTING) | ||
| find_package(launch_testing_ament_cmake REQUIRED) | ||
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| add_launch_test(test/srdf_publisher_test.py TARGET test-srdf_publisher) | ||
| endif() |
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| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2024, PickNik Robotics Inc. | ||
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| * are met: | ||
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| *********************************************************************/ | ||
|
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| // SrdfPublisher Node | ||
| // Author: Tyler Weaver | ||
| // | ||
| // Node with a single parameter and single publisher using transient local QoS. | ||
| // Publishes string set on parameter `robot_description_semantic` to topic | ||
| // `/robot_description_semantic`. | ||
| // | ||
| // This is similar to what [robot_state_publisher](https://github.com/ros/robot_state_publisher) | ||
| // does for the URDF using parameter `robot_description` and topic `/robot_description`. | ||
| // | ||
| // As MoveIt subscribes to the topic `/robot_description_semantic` for the srdf | ||
| // this node can be used when you want to set the SRDF parameter on only one node | ||
| // and have the rest of your system use a subscriber to that topic to get the | ||
| // SRDF. | ||
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| #include <rclcpp/rclcpp.hpp> | ||
| #include <std_msgs/msg/string.hpp> | ||
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| #include <string> | ||
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| namespace moveit_ros_planning | ||
| { | ||
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| class SrdfPublisher : public rclcpp::Node | ||
| { | ||
| rclcpp::Publisher<std_msgs::msg::String>::SharedPtr srdf_publisher_; | ||
| rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr on_set_parameters_handle_; | ||
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| public: | ||
| SrdfPublisher(const rclcpp::NodeOptions& options) : rclcpp::Node("srdf_publisher", options) | ||
| { | ||
| srdf_publisher_ = this->create_publisher<std_msgs::msg::String>("robot_description_semantic", | ||
| rclcpp::QoS(1).transient_local().reliable()); | ||
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| // TODO: Update the callback used here once Humble is EOL | ||
| // Using add_on_set_parameters_callback as it is the only parameter callback available in Humble. | ||
| // This is also why we have to return an always success validation. | ||
| // Once Humble is EOL use add_post_set_parameters_callback. | ||
| on_set_parameters_handle_ = | ||
| this->add_on_set_parameters_callback([this](const std::vector<rclcpp::Parameter>& parameters) { | ||
| for (auto const& parameter : parameters) | ||
| { | ||
| if (parameter.get_name() == "robot_description_semantic") | ||
| { | ||
| std_msgs::msg::String msg; | ||
| msg.data = parameter.get_value<std::string>(); | ||
| srdf_publisher_->publish(msg); | ||
| break; | ||
| } | ||
| } | ||
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| rcl_interfaces::msg::SetParametersResult result; | ||
| result.successful = true; | ||
| return result; | ||
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There was a problem hiding this comment. is this callback always suppose to return success or should it return success in the if, and false otherwise? There was a problem hiding this comment. I'm adding a comment about this. In humble the only callback we have for parameters is the validation one. You may ask, why don't I validate this is a valid srdf? I considered that until I realized the srdf parser requires a urdf as a parameter which I don't want to make this node get the urdf just to validate the srdf. This node is just a relay anyway and if you use it to set an invalid srdf the nodes that depend on it will blow up. After humble is eol we can use add_post_set_parameters_callback which is only in rolling now. I'm adding a comment explaining this. |
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| }); | ||
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| rcl_interfaces::msg::ParameterDescriptor descriptor; | ||
| descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING; | ||
| descriptor.description = "Semantic Robot Description Format"; | ||
| this->declare_parameter("robot_description_semantic", rclcpp::ParameterType::PARAMETER_STRING, descriptor); | ||
| } | ||
| }; | ||
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| } // namespace moveit_ros_planning | ||
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| #include "rclcpp_components/register_node_macro.hpp" | ||
| RCLCPP_COMPONENTS_REGISTER_NODE(moveit_ros_planning::SrdfPublisher) | ||
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Can there be multiple
robot_description_semanticparameter? or should if the get_name( ) == then should this function return?There was a problem hiding this comment.
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Adding a break here instead of a return because we need to return success through the result for now.