Merge pull request #123 from gramaziokohler/ros2

Add minimal support for ROS2

.github/workflows/build.yml → .github/workflows/build-ros1.yml

@@ -11,24 +11,16 @@ on:
       - main
 
 jobs:
-  build-cpython:
+  build-ros1:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
         name: [
-          "ubuntu-py37",
-          "ubuntu-py38",
           "ubuntu-py39",
           "ubuntu-py310",
           "ubuntu-py311",
         ]
         include:
-          - name: "ubuntu-py37"
-            os: ubuntu-latest
-            python-version: "3.7"
-          - name: "ubuntu-py38"
-            os: ubuntu-latest
-            python-version: "3.8"
           - name: "ubuntu-py39"
             os: ubuntu-latest
             python-version: "3.9"
@@ -53,15 +45,15 @@ jobs:
           python -m pip install --no-cache-dir -r requirements-dev.txt
       - name: Set up docker containers
         run: |
-          docker build -t gramaziokohler/rosbridge:integration_tests ./docker
-          docker run -d -p 9090:9090 --name rosbridge gramaziokohler/rosbridge:integration_tests /bin/bash -c "roslaunch /integration-tests.launch"
+          docker build -t gramaziokohler/rosbridge:integration_tests_ros1 ./docker/ros1
+          docker run -d -p 9090:9090 --name rosbridge gramaziokohler/rosbridge:integration_tests_ros1 /bin/bash -c "roslaunch /integration-tests.launch"
           docker ps -a
       - name: Run linter
         run: |
           invoke check
       - name: Run tests
         run: |
-          pytest
+          pytest tests/ros1
       - name: Tear down docker containers
         run: |
           docker rm -f rosbridge

.github/workflows/build-ros2.yml

@@ -0,0 +1,59 @@
+name: build
+
+on:
+  push:
+    branches:
+      - main
+    tags:
+      - 'v*'
+  pull_request:
+    branches:
+      - main
+
+jobs:
+  build-ros2:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        name: [
+          "ubuntu-py39",
+          "ubuntu-py310",
+          "ubuntu-py311",
+        ]
+        include:
+          - name: "ubuntu-py39"
+            os: ubuntu-latest
+            python-version: "3.9"
+          - name: "ubuntu-py310"
+            os: ubuntu-latest
+            python-version: "3.10"
+          - name: "ubuntu-py311"
+            os: ubuntu-latest
+            python-version: "3.11"
+    steps:
+      - uses: actions/checkout@v3
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install wheel
+      - name: Install
+        run: |
+          python -m pip install --no-cache-dir -r requirements-dev.txt
+      - name: Set up docker containers
+        run: |
+          docker build -t gramaziokohler/rosbridge:integration_tests_ros2 ./docker/ros2
+          docker run -d -p 9090:9090 --name rosbridge gramaziokohler/rosbridge:integration_tests_ros2 /bin/bash -c "ros2 launch /integration-tests.launch"
+          docker ps -a
+      - name: Run linter
+        run: |
+          invoke check
+      - name: Run tests
+        run: |
+          pytest tests/ros2
+      - name: Tear down docker containers
+        run: |
+          docker rm -f rosbridge

AUTHORS.rst

@@ -10,3 +10,4 @@ Authors
 * Hiroyuki Obinata `@obi-t4 <https://github.com/obi-t4>`_
 * Pedro Pereira `@MisterOwlPT <https://github.com/MisterOwlPT>`_
 * Domenic Rodriguez `@DomenicP <https://github.com/DomenicP>`_
+* Ilia Baranov `@iliabaranov <https://github.com/iliabaranov>`_

CHANGELOG.rst

@@ -12,6 +12,8 @@ Unreleased
 
 **Added**
 
+* Added a ROS2-compatible header class in ``roslibpy.ros2.Header``.
+
 **Changed**
 
 **Fixed**

README.rst

@@ -44,6 +44,8 @@ local ROS environment, allowing usage from platforms other than Linux.
 
 The API of **roslibpy** is modeled to closely match that of `roslibjs`_.
 
+ROS1 is fully supported. ROS2 support is still in progress.
+
 
 Main features
 -------------

docker/Dockerfile → docker/ros1/Dockerfile

@@ -13,11 +13,9 @@ RUN apt-get update && apt-get install -y \
     # Clear apt-cache to reduce image size
     && rm -rf /var/lib/apt/lists/*
 
-# Copy entrypoint
-COPY ./ros_entrypoint.sh /
+# Copy launch
 COPY ./integration-tests.launch /
 
 EXPOSE 9090
 
-ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["bash"]

docker/ros2/Dockerfile

@@ -0,0 +1,21 @@
+FROM ros:iron
+LABEL maintainer "Gonzalo Casas <[email protected]>"
+
+SHELL ["/bin/bash","-c"]
+
+# Install rosbridge
+RUN apt-get update && apt-get install -y \
+    ros-iron-rosbridge-suite \
+    # ros-iron-tf2-web-republisher \
+    # ros-iron-ros-tutorials \
+    # ros-iron-actionlib-tutorials \
+    --no-install-recommends \
+    # Clear apt-cache to reduce image size
+    && rm -rf /var/lib/apt/lists/*
+
+# Copy launch
+COPY ./integration-tests.launch /
+
+EXPOSE 9090
+
+CMD ["bash"]

docker/ros2/integration-tests.launch

@@ -0,0 +1,4 @@
+<launch>
+    <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml" />
+    <!-- <node pkg="tf2_web_republisher" type="tf2_web_republisher" name="tf2_web_republisher"></node> -->
+</launch>

docs/index.rst

@@ -44,6 +44,8 @@ local ROS environment, allowing usage from platforms other than Linux.
 
 The API of **roslibpy** is modeled to closely match that of `roslibjs <http://wiki.ros.org/roslibjs>`_.
 
+ROS1 is fully supported. ROS2 support is still in progress.
+
 ========
 Contents
 ========

docs/reference/index.rst

@@ -10,3 +10,4 @@ API Reference
 .. automodule:: roslibpy
 .. automodule:: roslibpy.actionlib
 .. automodule:: roslibpy.tf
+.. automodule:: roslibpy.ros2

src/roslibpy/__init__.py

@@ -41,6 +41,19 @@
 Main ROS concepts
 =================
 
+ROS1 vs ROS2
+------------
+
+This library has been tested to work with ROS1. ROS2 should work, but it is still
+in the works.
+
+One area in which ROS1 and ROS2 differ is in the header interface. To use ROS2, use
+the header defined in the `roslibpy.ros2` module.
+
+.. autoclass:: roslibpy.ros2.Header
+   :members:
+
+
 Topics
 ------
 

src/roslibpy/core.py

@@ -48,7 +48,11 @@ def __init__(self, values=None):
 
 
 class Header(UserDict):
-    """Represents a message header of the ROS type std_msgs/Header."""
+    """Represents a message header of the ROS type std_msgs/Header.
+
+    This header is only compatible with ROS1. For ROS2 headers, use :class:`roslibpy.ros2.Header`.
+
+    """
 
     def __init__(self, seq=None, stamp=None, frame_id=None):
         self.data = {}

src/roslibpy/ros2/__init__.py

@@ -0,0 +1,16 @@
+from roslibpy import Header as ROS1Header
+from roslibpy import Time
+
+__all__ = [
+    "Header",
+]
+
+
+class Header(ROS1Header):
+    """Represents a message header of the ROS type std_msgs/Header."""
+
+    def __init__(self, stamp=None, frame_id=None):
+        super(Header, self).__init__(stamp=stamp, frame_id=frame_id)
+        self.data["stamp"] = Time(stamp["secs"], stamp["nsecs"]) if stamp else None
+        self.data["frame_id"] = frame_id
+        del self.data["seq"]

tests/ros2/test_core.py

@@ -0,0 +1,59 @@
+import pytest
+
+from roslibpy import Header, Time
+
+REF_FLOAT_SECS_TIME = 1610122759.677662
+
+
+def test_time_from_sec_based_on_time_module():
+    t = Time.from_sec(REF_FLOAT_SECS_TIME)
+    assert t.secs == 1610122759
+    assert t.nsecs == 677661895
+
+
+def test_to_nsec():
+    t = Time.from_sec(REF_FLOAT_SECS_TIME)
+    assert t.to_nsec() == 1610122759677661895
+
+
+def test_to_sec():
+    t = Time.from_sec(REF_FLOAT_SECS_TIME)
+    assert t.to_sec() == REF_FLOAT_SECS_TIME
+
+
+def test_is_zero():
+    assert Time(0, 0).is_zero()
+    assert Time(1, 0).is_zero() is False
+
+
+def test_header_ctor_supports_time():
+    header = Header(stamp=Time.from_sec(REF_FLOAT_SECS_TIME))
+    assert header["stamp"]["secs"] == 1610122759
+    assert header["stamp"]["secs"] == header["stamp"].secs
+    assert header["stamp"].to_sec() == REF_FLOAT_SECS_TIME
+
+
+def test_header_ctor_supports_dict():
+    header = Header(stamp=dict(secs=1610122759, nsecs=677661895))
+    assert header["stamp"]["secs"] == 1610122759
+    assert header["stamp"]["secs"] == header["stamp"].secs
+    assert header["stamp"].to_sec() == REF_FLOAT_SECS_TIME
+
+
+def test_time_accepts_only_ints():
+    with pytest.raises(ValueError):
+        Time(1.3, 1.0)
+    with pytest.raises(ValueError):
+        Time(100.0, 3.1)
+
+    t = Time(110.0, 0.0)
+    assert t.secs == 110
+    assert t.nsecs == 0
+
+
+def test_time_properties_are_readonly():
+    t = Time.now()
+    with pytest.raises(AttributeError):
+        t.secs = 10
+    with pytest.raises(AttributeError):
+        t.nsecs = 10

tests/ros2/test_ros.py

@@ -0,0 +1,95 @@
+from __future__ import print_function
+
+import threading
+import time
+
+from roslibpy import Ros
+
+host = "127.0.0.1"
+port = 9090
+url = "ws://%s:%d" % (host, port)
+
+
+def test_reconnect_does_not_trigger_on_client_close():
+    ros = Ros(host, port)
+    ros.run()
+
+    assert ros.is_connected, "ROS initially connected"
+    time.sleep(0.5)
+    event = threading.Event()
+    ros.on("close", lambda m: event.set())
+    ros.close()
+    event.wait(5)
+
+    assert not ros.is_connected, "Successful disconnect"
+    assert not ros.is_connecting, "Not trying to re-connect"
+
+
+def test_connection():
+    ros = Ros(host, port)
+    ros.run()
+    assert ros.is_connected
+    ros.close()
+
+
+def test_url_connection():
+    ros = Ros(url)
+    ros.run()
+    assert ros.is_connected
+    ros.close()
+
+
+def test_closing_event():
+    ros = Ros(url)
+    ros.run()
+    ctx = dict(closing_event_called=False, was_still_connected=False)
+
+    def handle_closing():
+        ctx["closing_event_called"] = True
+        ctx["was_still_connected"] = ros.is_connected
+        time.sleep(1.5)
+
+    ts_start = time.time()
+    ros.on("closing", handle_closing)
+    ros.close()
+    ts_end = time.time()
+    closing_was_handled_synchronously_before_close = ts_end - ts_start >= 1.5
+
+    assert ctx["closing_event_called"]
+    assert ctx["was_still_connected"]
+    assert closing_was_handled_synchronously_before_close
+
+
+def test_multithreaded_connect_disconnect():
+    CONNECTIONS = 30
+    clients = []
+
+    def connect(clients):
+        ros = Ros(url)
+        ros.run()
+        clients.append(ros)
+
+    # First connect all
+    threads = []
+    for _ in range(CONNECTIONS):
+        thread = threading.Thread(target=connect, args=(clients,))
+        thread.daemon = False
+        thread.start()
+        threads.append(thread)
+
+    for thread in threads:
+        thread.join()
+
+    # Assert connection status
+    for ros in clients:
+        assert ros.is_connected
+
+    # Now disconnect all
+    for ros in clients:
+        ros.close()
+
+    time.sleep(0.5)
+
+    # Assert connection status
+    for ros in clients:
+        assert not ros.is_connected