Support container in frontend #235
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Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
ivanpauno
reviewed
May 6, 2021
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@ivanpauno Thank you for your quick review! I'll fix them. |
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
hidmic
reviewed
May 6, 2021
kenji-miyake
commented
May 7, 2021
added 4 commits
May 7, 2021 14:50
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
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Fixed except for #235 (comment) (because there was a problem with it). |
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
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Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
hidmic
approved these changes
May 10, 2021
ivanpauno
reviewed
May 10, 2021
added 2 commits
May 11, 2021 11:54
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
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added 2 commits
May 11, 2021 13:43
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
ivanpauno
approved these changes
May 11, 2021
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This PR could use a test case, that could be added here. |
hidmic
approved these changes
May 11, 2021
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LGTM too, and I agree with @ivanpauno this could use a few test cases.
Thank you for your contributions @kenji-miyake!
jacobperron
reviewed
May 11, 2021
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
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@kenji-miyake friendly ping |
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@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. 😢 |
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I'm sorry, I couldn't make time recently. I think I can start to work! |
Yes! Sorry if it wasn't clear. |
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
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@hidmic @ivanpauno @jacobperron I'm sorry to be late. Added tests! Could you review again, please? 😄 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 ================================================================================================================================================================================================ |
ivanpauno
approved these changes
Jun 7, 2021
test_launch_ros/test/test_launch_ros/frontend/test_component_container.py
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hidmic
approved these changes
Jun 7, 2021
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
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CI:
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Thanks for the contribution @kenji-miyake !! |
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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.
How to test
In another terminal,