Nav2 compatible

docs/first-steps.rst

@@ -58,17 +58,25 @@ published sensor topics.
 Move it
 ------------
 
-If you are running MVSim as a ROS node, you can launch any standard teleoperation node 
+If you are running MVSim as a ROS node, you can launch any standard teleoperation node
 and send motion commands to ``/cmd_vel`` as with any other robot or simulator.
 
+If you want to use the teleop panel in rviz2, please install `visualization_tutorials <https://github.com/ros-visualization/visualization_tutorials/tree/ros2>`_.
+
+.. code-block:: bash
+
+    cd ros2_ws/src
+    git clone -b ros2 https://github.com/ros-visualization/visualization_tutorials
+    colcon build --symlink-install
+
 Additionally, MVSim allows you to **move the robot directly using the keyboard or a joystick**.
 Make sure of giving the focus to the MVSim window first,
 then use these keys:
 
 - ``w/s`` to increase/decrease the PI controller setpoint linear speed, and
 - ``a/d`` to change the corresponding angular speed, that is, rotate to the left and right.
 - Use the spacebar as a brake.
-- In worlds with more than one robot, select the active robot by pressing the numeric 
+- In worlds with more than one robot, select the active robot by pressing the numeric
   keys ``1``, ``2``, etc.
 
 All the details on **keyboard and joystick-based control** are listed `here <teleoperation.html>`_.

formatter.sh

@@ -1,2 +1,2 @@
 # formatter.sh
-find mvsim_node_src/ -iname *.h -o -iname *.hpp -o -iname *.cpp -o -iname *.c | xargs clang-format-14 -i
+find modules/ mvsim_node_src/ mvsim_tutorial/cpp/ mvsim-cli/ tests/ -iname *.h -o -iname *.hpp -o -iname *.cpp -o -iname *.c | xargs clang-format-14 -i

modules/comms/python/generated-sources-pybind/mvsim/Comms/Client.cpp

@@ -18,8 +18,7 @@ PYBIND11_DECLARE_HOLDER_TYPE(T, T*)
 PYBIND11_MAKE_OPAQUE(std::shared_ptr<void>)
 #endif
 
-void bind_mvsim_Comms_Client(
-	std::function<pybind11::module&(std::string const& namespace_)>& M)
+void bind_mvsim_Comms_Client(std::function<pybind11::module&(std::string const& namespace_)>& M)
 {
 	{  // mvsim::Client file:mvsim/Comms/Client.h line:48
 		pybind11::class_<mvsim::Client, std::shared_ptr<mvsim::Client>> cl(
@@ -39,59 +38,52 @@ void bind_mvsim_Comms_Client(
 		cl.def(pybind11::init<const std::string&>(), pybind11::arg("nodeName"));
 
 		cl.def(
-			"setName",
-			(void (mvsim::Client::*)(const std::string&)) &
-				mvsim::Client::setName,
+			"setName", (void(mvsim::Client::*)(const std::string&)) & mvsim::Client::setName,
 			"@{ \n\nC++: mvsim::Client::setName(const std::string &) --> void",
 			pybind11::arg("nodeName"));
 		cl.def(
 			"serverHostAddress",
-			(const std::string& (mvsim::Client::*)() const) &
-				mvsim::Client::serverHostAddress,
+			(const std::string& (mvsim::Client::*)() const) & mvsim::Client::serverHostAddress,
 			"C++: mvsim::Client::serverHostAddress() const --> const "
 			"std::string &",
 			pybind11::return_value_policy::automatic);
 		cl.def(
 			"serverHostAddress",
-			(void (mvsim::Client::*)(const std::string&)) &
-				mvsim::Client::serverHostAddress,
+			(void(mvsim::Client::*)(const std::string&)) & mvsim::Client::serverHostAddress,
 			"C++: mvsim::Client::serverHostAddress(const std::string &) --> "
 			"void",
 			pybind11::arg("serverIpOrAddressName"));
 		cl.def(
-			"connect", (void (mvsim::Client::*)()) & mvsim::Client::connect,
+			"connect", (void(mvsim::Client::*)()) & mvsim::Client::connect,
 			"Connects to the server in a parallel thread.\n  Default server "
 			"address is `localhost`, can be changed with\n "
 			"serverHostAddress().\n\nC++: mvsim::Client::connect() --> void");
 		cl.def(
-			"connected",
-			(bool (mvsim::Client::*)() const) & mvsim::Client::connected,
+			"connected", (bool(mvsim::Client::*)() const) & mvsim::Client::connected,
 			"Whether the client is correctly connected to the server. \n\nC++: "
 			"mvsim::Client::connected() const --> bool");
 		cl.def(
-			"shutdown", (void (mvsim::Client::*)()) & mvsim::Client::shutdown,
+			"shutdown", (void(mvsim::Client::*)()) & mvsim::Client::shutdown,
 			"Shutdowns the communication thread. Blocks until the thread is "
 			"stopped.\n There is no need to manually call this method, it is "
 			"called upon\n destruction. \n\nC++: mvsim::Client::shutdown() --> "
 			"void");
 		cl.def(
 			"callService",
-			(std::string(mvsim::Client::*)(
-				const std::string&, const std::string&)) &
+			(std::string(mvsim::Client::*)(const std::string&, const std::string&)) &
 				mvsim::Client::callService,
 			"Overload for python wrapper\n\nC++: "
 			"mvsim::Client::callService(const std::string &, const std::string "
 			"&) --> std::string",
 			pybind11::arg("serviceName"), pybind11::arg("inputSerializedMsg"));
 		cl.def(
 			"subscribeTopic",
-			(void (mvsim::Client::*)(
+			(void(mvsim::Client::*)(
 				const std::string&,
 				const class std::function<void(
 					const std::string&,
 					const class std::vector<
-						unsigned char,
-						class std::allocator<unsigned char>>&)>&)) &
+						unsigned char, class std::allocator<unsigned char>>&)>&)) &
 				mvsim::Client::subscribeTopic,
 			"Overload for python wrapper (callback accepts "
 			"bytes-string)\n\nC++: mvsim::Client::subscribeTopic(const "
@@ -100,28 +92,22 @@ void bind_mvsim_Comms_Client(
 			"std::allocator<unsigned char> > &)> &) --> void",
 			pybind11::arg("topicName"), pybind11::arg("callback"));
 		cl.def(
-			"enable_profiler",
-			(void (mvsim::Client::*)(bool)) & mvsim::Client::enable_profiler,
-			"C++: mvsim::Client::enable_profiler(bool) --> void",
-			pybind11::arg("enable"));
+			"enable_profiler", (void(mvsim::Client::*)(bool)) & mvsim::Client::enable_profiler,
+			"C++: mvsim::Client::enable_profiler(bool) --> void", pybind11::arg("enable"));
 
 		{  // mvsim::Client::InfoPerNode file:mvsim/Comms/Client.h line:113
 			auto& enclosing_class = cl;
 			pybind11::class_<
-				mvsim::Client::InfoPerNode,
-				std::shared_ptr<mvsim::Client::InfoPerNode>>
+				mvsim::Client::InfoPerNode, std::shared_ptr<mvsim::Client::InfoPerNode>>
 				cl(enclosing_class, "InfoPerNode", "");
-			cl.def(pybind11::init(
-				[]() { return new mvsim::Client::InfoPerNode(); }));
-			cl.def(pybind11::init([](mvsim::Client::InfoPerNode const& o) {
-				return new mvsim::Client::InfoPerNode(o);
-			}));
+			cl.def(pybind11::init([]() { return new mvsim::Client::InfoPerNode(); }));
+			cl.def(pybind11::init([](mvsim::Client::InfoPerNode const& o)
+								  { return new mvsim::Client::InfoPerNode(o); }));
 			cl.def_readwrite("name", &mvsim::Client::InfoPerNode::name);
 			cl.def(
 				"assign",
 				(struct mvsim::Client::InfoPerNode &
-				 (mvsim::Client::InfoPerNode::*)(const struct mvsim::Client::
-													 InfoPerNode&)) &
+				 (mvsim::Client::InfoPerNode::*)(const struct mvsim::Client::InfoPerNode&)) &
 					mvsim::Client::InfoPerNode::operator=,
 				"C++: mvsim::Client::InfoPerNode::operator=(const struct "
 				"mvsim::Client::InfoPerNode &) --> struct "
@@ -132,25 +118,19 @@ void bind_mvsim_Comms_Client(
 		{  // mvsim::Client::InfoPerTopic file:mvsim/Comms/Client.h line:119
 			auto& enclosing_class = cl;
 			pybind11::class_<
-				mvsim::Client::InfoPerTopic,
-				std::shared_ptr<mvsim::Client::InfoPerTopic>>
+				mvsim::Client::InfoPerTopic, std::shared_ptr<mvsim::Client::InfoPerTopic>>
 				cl(enclosing_class, "InfoPerTopic", "");
-			cl.def(pybind11::init(
-				[]() { return new mvsim::Client::InfoPerTopic(); }));
-			cl.def(pybind11::init([](mvsim::Client::InfoPerTopic const& o) {
-				return new mvsim::Client::InfoPerTopic(o);
-			}));
+			cl.def(pybind11::init([]() { return new mvsim::Client::InfoPerTopic(); }));
+			cl.def(pybind11::init([](mvsim::Client::InfoPerTopic const& o)
+								  { return new mvsim::Client::InfoPerTopic(o); }));
 			cl.def_readwrite("name", &mvsim::Client::InfoPerTopic::name);
 			cl.def_readwrite("type", &mvsim::Client::InfoPerTopic::type);
-			cl.def_readwrite(
-				"endpoints", &mvsim::Client::InfoPerTopic::endpoints);
-			cl.def_readwrite(
-				"publishers", &mvsim::Client::InfoPerTopic::publishers);
+			cl.def_readwrite("endpoints", &mvsim::Client::InfoPerTopic::endpoints);
+			cl.def_readwrite("publishers", &mvsim::Client::InfoPerTopic::publishers);
 			cl.def(
 				"assign",
 				(struct mvsim::Client::InfoPerTopic &
-				 (mvsim::Client::InfoPerTopic::*)(const struct mvsim::Client::
-													  InfoPerTopic&)) &
+				 (mvsim::Client::InfoPerTopic::*)(const struct mvsim::Client::InfoPerTopic&)) &
 					mvsim::Client::InfoPerTopic::operator=,
 				"C++: mvsim::Client::InfoPerTopic::operator=(const struct "
 				"mvsim::Client::InfoPerTopic &) --> struct "

modules/comms/python/generated-sources-pybind/mvsim/Comms/common.cpp

@@ -15,32 +15,27 @@ PYBIND11_MAKE_OPAQUE(std::shared_ptr<void>)
 #endif
 
 // mvsim::UnexpectedMessageException file:mvsim/Comms/common.h line:49
-struct PyCallBack_mvsim_UnexpectedMessageException
-	: public mvsim::UnexpectedMessageException
+struct PyCallBack_mvsim_UnexpectedMessageException : public mvsim::UnexpectedMessageException
 {
 	using mvsim::UnexpectedMessageException::UnexpectedMessageException;
 
 	const char* what() const throw() override
 	{
 		pybind11::gil_scoped_acquire gil;
 		pybind11::function overload = pybind11::get_overload(
-			static_cast<const mvsim::UnexpectedMessageException*>(this),
-			"what");
+			static_cast<const mvsim::UnexpectedMessageException*>(this), "what");
 		if (overload)
 		{
-			auto o =
-				overload.operator()<pybind11::return_value_policy::reference>();
-			if (pybind11::detail::cast_is_temporary_value_reference<
-					const char*>::value)
+			auto o = overload.operator()<pybind11::return_value_policy::reference>();
+			if (pybind11::detail::cast_is_temporary_value_reference<const char*>::value)
 			{
 // pybind11 <=2.4: overload_caster_t, otherwise: override_caster_t
 #if (PYBIND11_MAJOR_VERSION == 2 && PYBIND11_MINOR_VERSION <= 4)
 				static pybind11::detail::overload_caster_t<const char*> caster;
 #else
 				static pybind11::detail::override_caster_t<const char*> caster;
 #endif
-				return pybind11::detail::cast_ref<const char*>(
-					std::move(o), caster);
+				return pybind11::detail::cast_ref<const char*>(std::move(o), caster);
 			}
 			else
 				return pybind11::detail::cast_safe<const char*>(std::move(o));
@@ -49,30 +44,24 @@ struct PyCallBack_mvsim_UnexpectedMessageException
 	}
 };
 
-void bind_mvsim_Comms_common(
-	std::function<pybind11::module&(std::string const& namespace_)>& M)
+void bind_mvsim_Comms_common(std::function<pybind11::module&(std::string const& namespace_)>& M)
 {
 	{  // mvsim::UnexpectedMessageException file:mvsim/Comms/common.h line:49
 		pybind11::class_<
-			mvsim::UnexpectedMessageException,
-			std::shared_ptr<mvsim::UnexpectedMessageException>,
+			mvsim::UnexpectedMessageException, std::shared_ptr<mvsim::UnexpectedMessageException>,
 			PyCallBack_mvsim_UnexpectedMessageException, std::runtime_error>
 			cl(M("mvsim"), "UnexpectedMessageException", "");
 		cl.def(pybind11::init<const char*>(), pybind11::arg("reason"));
 
-		cl.def(pybind11::init(
-			[](PyCallBack_mvsim_UnexpectedMessageException const& o) {
-				return new PyCallBack_mvsim_UnexpectedMessageException(o);
-			}));
-		cl.def(pybind11::init([](mvsim::UnexpectedMessageException const& o) {
-			return new mvsim::UnexpectedMessageException(o);
-		}));
+		cl.def(pybind11::init([](PyCallBack_mvsim_UnexpectedMessageException const& o)
+							  { return new PyCallBack_mvsim_UnexpectedMessageException(o); }));
+		cl.def(pybind11::init([](mvsim::UnexpectedMessageException const& o)
+							  { return new mvsim::UnexpectedMessageException(o); }));
 		cl.def(
 			"assign",
 			(class mvsim::UnexpectedMessageException &
-			 (mvsim::
-				  UnexpectedMessageException::*)(const class mvsim::
-													 UnexpectedMessageException&)) &
+			 (mvsim::UnexpectedMessageException::*)(const class mvsim::
+														UnexpectedMessageException&)) &
 				mvsim::UnexpectedMessageException::operator=,
 			"C++: mvsim::UnexpectedMessageException::operator=(const class "
 			"mvsim::UnexpectedMessageException &) --> class "

modules/comms/python/generated-sources-pybind/pymvsim_comms.cpp

@@ -9,26 +9,23 @@
 
 typedef std::function<pybind11::module&(std::string const&)> ModuleGetter;
 
-void bind_std_exception(
-	std::function<pybind11::module&(std::string const& namespace_)>& M);
-void bind_std_stdexcept(
-	std::function<pybind11::module&(std::string const& namespace_)>& M);
-void bind_mvsim_Comms_common(
-	std::function<pybind11::module&(std::string const& namespace_)>& M);
-void bind_mvsim_Comms_Client(
-	std::function<pybind11::module&(std::string const& namespace_)>& M);
+void bind_std_exception(std::function<pybind11::module&(std::string const& namespace_)>& M);
+void bind_std_stdexcept(std::function<pybind11::module&(std::string const& namespace_)>& M);
+void bind_mvsim_Comms_common(std::function<pybind11::module&(std::string const& namespace_)>& M);
+void bind_mvsim_Comms_Client(std::function<pybind11::module&(std::string const& namespace_)>& M);
 
 PYBIND11_MODULE(pymvsim_comms, root_module)
 {
 	root_module.doc() = "pymvsim_comms module";
 
 	std::map<std::string, pybind11::module> modules;
-	ModuleGetter M = [&](std::string const& namespace_) -> pybind11::module& {
+	ModuleGetter M = [&](std::string const& namespace_) -> pybind11::module&
+	{
 		auto it = modules.find(namespace_);
 		if (it == modules.end())
 			throw std::runtime_error(
-				"Attempt to access pybind11::module for namespace " +
-				namespace_ + " before it was created!!!");
+				"Attempt to access pybind11::module for namespace " + namespace_ +
+				" before it was created!!!");
 		return it->second;
 	};
 
@@ -39,14 +36,15 @@ PYBIND11_MODULE(pymvsim_comms, root_module)
 		"global",
 	};
 
-	auto mangle_namespace_name([](std::string const& ns) -> std::string {
-		if (std::find(
-				reserved_python_words.begin(), reserved_python_words.end(),
-				ns) == reserved_python_words.end())
-			return ns;
-		else
-			return ns + '_';
-	});
+	auto mangle_namespace_name(
+		[](std::string const& ns) -> std::string
+		{
+			if (std::find(reserved_python_words.begin(), reserved_python_words.end(), ns) ==
+				reserved_python_words.end())
+				return ns;
+			else
+				return ns + '_';
+		});
 
 	std::vector<std::pair<std::string, std::string>> sub_modules{
 		{"", "mvsim"},
@@ -56,8 +54,7 @@ PYBIND11_MODULE(pymvsim_comms, root_module)
 		modules[p.first.size() ? p.first + "::" + p.second : p.second] =
 			modules[p.first].def_submodule(
 				mangle_namespace_name(p.second).c_str(),
-				("Bindings for " + p.first + "::" + p.second + " namespace")
-					.c_str());
+				("Bindings for " + p.first + "::" + p.second + " namespace").c_str());
 
 	// pybind11::class_<std::shared_ptr<void>>(M(""), "_encapsulated_data_");
 

modules/comms/python/generated-sources-pybind/std/exception.cpp

@@ -21,23 +21,20 @@ struct PyCallBack_std_exception : public std::exception
 	const char* what() const throw() override
 	{
 		pybind11::gil_scoped_acquire gil;
-		pybind11::function overload = pybind11::get_overload(
-			static_cast<const std::exception*>(this), "what");
+		pybind11::function overload =
+			pybind11::get_overload(static_cast<const std::exception*>(this), "what");
 		if (overload)
 		{
-			auto o =
-				overload.operator()<pybind11::return_value_policy::reference>();
-			if (pybind11::detail::cast_is_temporary_value_reference<
-					const char*>::value)
+			auto o = overload.operator()<pybind11::return_value_policy::reference>();
+			if (pybind11::detail::cast_is_temporary_value_reference<const char*>::value)
 			{
 // pybind11 <=2.4: overload_caster_t, otherwise: override_caster_t
 #if (PYBIND11_MAJOR_VERSION == 2 && PYBIND11_MINOR_VERSION <= 4)
 				static pybind11::detail::overload_caster_t<const char*> caster;
 #else
 				static pybind11::detail::override_caster_t<const char*> caster;
 #endif
-				return pybind11::detail::cast_ref<const char*>(
-					std::move(o), caster);
+				return pybind11::detail::cast_ref<const char*>(std::move(o), caster);
 			}
 			else
 				return pybind11::detail::cast_safe<const char*>(std::move(o));
@@ -46,33 +43,26 @@ struct PyCallBack_std_exception : public std::exception
 	}
 };
 
-void bind_std_exception(
-	std::function<pybind11::module&(std::string const& namespace_)>& M)
+void bind_std_exception(std::function<pybind11::module&(std::string const& namespace_)>& M)
 {
 	{  // std::exception file:bits/exception.h line:61
-		pybind11::class_<
-			std::exception, std::shared_ptr<std::exception>,
-			PyCallBack_std_exception>
+		pybind11::class_<std::exception, std::shared_ptr<std::exception>, PyCallBack_std_exception>
 			cl(M("std"), "exception", "");
 		cl.def(pybind11::init(
 			[]() { return new std::exception(); },
 			[]() { return new PyCallBack_std_exception(); }));
-		cl.def(pybind11::init([](PyCallBack_std_exception const& o) {
-			return new PyCallBack_std_exception(o);
-		}));
-		cl.def(pybind11::init(
-			[](std::exception const& o) { return new std::exception(o); }));
+		cl.def(pybind11::init([](PyCallBack_std_exception const& o)
+							  { return new PyCallBack_std_exception(o); }));
+		cl.def(pybind11::init([](std::exception const& o) { return new std::exception(o); }));
 		cl.def(
 			"assign",
-			(class std::exception &
-			 (std::exception::*)(const class std::exception&)) &
+			(class std::exception & (std::exception::*)(const class std::exception&)) &
 				std::exception::operator=,
 			"C++: std::exception::operator=(const class std::exception &) --> "
 			"class std::exception &",
 			pybind11::return_value_policy::automatic, pybind11::arg(""));
 		cl.def(
-			"what",
-			(const char* (std::exception::*)() const) & std::exception::what,
+			"what", (const char* (std::exception::*)() const) & std::exception::what,
 			"C++: std::exception::what() const --> const char *",
 			pybind11::return_value_policy::automatic);
 	}