By clicking Sign up for GitHub, you agree to our terms of service and Execute(Executable()) or Execute(Node()) rather than ExecuteProcess() and Node(). Between each step you can press TAB twice to see all available options. Have a question about this project? Print complete message received in ROS2 C++ subscriber callback, [ROS2][foxy][launch] Restart node every time it exits - launch file, Creative Commons Attribution Share Alike 3.0. You signed in with another tab or window. : The ExecuteProcess class, etc, should still exist, making use of the new objects to avoid duplicated code, and print a deprecated warning when an user uses it. After the device has been detected, you can communicate with it from another process / terminal window. To review, open the file in an editor that reveals hidden Unicode characters. Myzhar February 17, 2022, 8:48am #2. micro_ros_setup No definition of [python3-vcstool] for OS [osx], Passing an array of arrays of doubles from a yaml config file, Prismatic Joint not working properly with ROS2 & Gazebo 11, Purpose of visibility_control files in ros packages. A MultiNodeExecutable, which inherits from node and takes a list of Node in its constructor. petalinux-boot --jtag --fpga petalinux-boot --jtag --kernel After that, he prepares a board support package (BSP) for the PYNQ image creation process. For instance, a sub class of Executable might be Node or LifecycleNode, and a sub class of Execute might be ExecuteRemotely (execute on a different machine). This second process executes properly if the first one ends on its own, but if I interrupt with CTRL-C it does not. Why? A SingleNodeExecutable class that describes an executable that runs only one node. controller = node( package=my_package, executable=my_executable, ) cmd = ['ros2', 'run', 'my_package', 'my_executable'] restart_controller = executeprocess(cmd=cmd,shell=true) launch_description = launchdescription(arguments + [ robot_state_publisher, simulator, controller, # restart controller when it breaks registereventhandler( Camera works fine, able to launch it with ZED_Explorer. While Crystal Clemmens supports Python nodes, the previous release, Bouncy Bolson, does not. Sign in I have another process that starts a controller for my robot and whenever I reset the simulation I want to be able to restart my controller node without everything shutting down. Now click the Waypoint mode button in the bottom left corner . How to Use Static Transform Publisher in ROS2. An Execute action. Introduction to Programming with ROS2-Launch files | by Daniel Jeswin | Medium Sign In Get started 500 Apologies, but something went wrong on our end. ros2 launch basic_mobile_robot basic_mobile_bot_v5.launch.py. I think that everything previously commented here still stands. Now, I want to write a another launch file 'data_processors_all_launch.py', which launches 2 instances of 'data_processor' using the child launch file, but under different namespaces. e.g. And there is often a confusion about the executable name. does /opt/ros/foxy/share/launch_testing_ros/examples/talker_listener_launch_test.py contain the required generate_launch_description()? Then click on the map in the estimated position where the robot is in Gazebo. ros2 + run + name of the package + name of the executable. There are good notes above from both @wjwwood and @ivanpauno; does everything here still feel current? Also want to make sure we don't start running with ideas that have been obsoleted by other changes. I believe it might be wise to separate the description of a process to be executed and its state while running from the Action which executes it. This issue has been mentioned on ROS Discourse. I am also open to a better idea to do what I want if it is impossible to re-execute a process. It should be done in a backwards compatible way. I'm not sure if this is in quite the format you were wanting, but we've put together some thoughts about how to approach this. Just don't use target_action argument, because it's comparing, using object. Also, (and this is probably a little premature) assuming we eventually get to the point of implementing the refactor, can you point me to the appropriate unit tests so I can make sure to update them/add new ones as appropriate? I'm attempting to use the on_exit argument of the ExecuteProcess action to accomplish this and feed it another ExecuteProcess action which performs the necessary clean up. Any thoughts would be greatly appreciated. There could be sub classes of both Execute and Executable. It doesn't start something up again. Launchfile for intra process communication and lifecycle nodes, [launch] Refactoring ExecuteProcess into Execute and Executable, https://rosmilitary.org/faq/?category=ros-2-license. In my case this was happening because I had two workspaces and was editing the file in the wrong workspace. Then: $ ros2 launch ros2_tutorials_py demo.launch.py [INFO] [launch]: All log files can be found below /home/ed/.ros/log/2020-07-03- 08-51-07-071225-ed-vm-10382 Share Improve this answer Follow edited Mar 19, 2019 at 20:47 answered Mar 5, 2019 at 7:54 Andreas Klintberg 390 1 11 27 Add a comment Your . Are there any concerns about breaking changes and backward compatibility in this area? ros2 launch command line tool. I am trying to launch a simple launch file from ros2 foxy. Use of -r/--remap flags where appropriate. This is the preferred approach for ROS 1 roslaunch launch files, thus some degree of familiarity is expected (and relied upon). One of them exits under some conditions and I want to restart it every time when that happens. We've already done that in some cases (like here), but we haven't applied that consistently. Currently all of this information is encapsulated in the ExecuteProcess action, and my proposal would be to replace that with an action called Execute that takes an Executable (not an action or launch description entity, just a new kind of class). Reinstalled Wrapper, ROS2, & Reinstalled SDK (3.6). I'm attempting to use the on_exit argument of the ExecuteProcess action to accomplish this and feed it another ExecuteProcess action which performs the necessary clean up. Launching a simple launchfile on ros2:foxy failed foxy ros2 launchfile asked Jan 10 '21 Zhoulai Fu 136 24 31 39 http://www.zhoulaifu.com/ I am trying to launch a simple launch file from ros2 foxy. I have fixed this by switching to ROS rolling. The reason why it's still executing the LogInfo is probably because it falls under 'clean exit' of the program. It will have more visibility there, and it's also better for receiving feedback (making comments right after the place it applies is nicer). which was my original idea. GitHub - ros2/launch: Tools for launching multiple processes and for writing tests involving multiple processes. @roger-strain Thanks for working on this! I saw the mention of this issue, and I'd like to see if we can help on getting some of this work done, and figure out how to use this concept for our remote execution needs. I got the following error messages. The latest patch commit in the master branch fixed this problem. """Launch Gazebo server and client with command line arguments.""". For XML (or other frontend), I think we should check the parent entity and behave differently according to that. Set the initial pose of the robot by clicking the "2D Pose Estimate" on top of the rviz2 screen. ros2 / launch Public Notifications Fork 104 Star 78 Code Issues 61 Pull requests 9 Actions Security Insights rolling 19 branches 74 tags Code nnmm Allow ReadyToTest () usage in event handler ( #665) 7694235 8 days ago 497 commits It's strange to me that the log action executes but the process in the same list does not. node: my_node. 16-3 Date: Sat, 21 Apr 2018 07:35:26 +0000 Source: ros -geometry2 Source-Version: 0. If you want to start your node manually, start it as stated in @PSAs answer: ros2 run demo_nodes_cpp talker __params:=demo_params.yaml update: parameters expect a list of config files. In roslaunch, this is expressed through several mechanisms: <include> s: you can easily include other .launch files and also assign them a namespace so that their names do not confict with yours. There might be relevant details there: https://discourse.ros.org/t/ros-2-tsc-meeting-minutes-2020-07-16/15468/1, [launch] consider refactoring ExecuteProcess into Execute and Executable. ros2_gazebo_and_urdf_robot.launch.py This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. I am using the respawn feature for quite some time now and it works fine but I might try your solution too - just to verify! Well occasionally send you account related emails. Similarly, future releases may add additional support for how/where to input config files. Another thing is that the ros package is in Python (it cannot be in cpp for now at least) so it is not possible to make it a managed node and use the lifecycle utilities (configure-activate-shutdown etc.) Sign up for a free GitHub account to open an issue and contact its maintainers and the community. Wrap rclcpp::Node with basic Lifecycle behavior? This process is dirty and spawns other processes and needs a bit of clean up. I think that a good start would be to propose an API, and share it for review. If you need any extra input for the design of the API, please let me know and I will try to help. @ivanpauno Is the document naming/formatting okay for a PR as is? If you interrupt using CTRL C you don't just exit the one node you're running. This will for for my needs, but I still find it odd that these other actions work but ExecuteProcess does not. micro_ros_setup No definition of [python3-vcstool] for OS [osx], python example of a motor hardware interface, Launching a simple launchfile on ros2:foxy failed, Passing an array of arrays of doubles from a yaml config file, Prismatic Joint not working properly with ROS2 & Gazebo 11, terminal outputs appear after KeyboardInterrupt, Purpose of visibility_control files in ros packages. Instantly share code, notes, and snippets. I am attempting to use ROS2 launch to kick off a non-ROS-node executable (a long running process). I just tried to build everything on my personal computer and it works like a charm meaning I have some issue on the other computer, but this is my problem ;p I will update the issue with the solution when I find the solution. This process is dirty and spawns other processes and needs a bit of clean up. The command is executed on a docker machine. I've been working with the guys who are putting together ideas for Multi-machine launching (ros2/design#255), and wanted to follow up on some of the feedback there. Take a look to see if things are on the right track; if you'd like me to move this somewhere else, I certainly can. THLL February 20, 2022, 8:27pm #3. For reference, as of this post, ROS2 has had three releases. Hi, thank you for the feedback. Also, there's discussion in the FP about some changes to how things would be called, for instance: e.g. In the first shell start RViz and wait for everything to finish loading: roslaunch panda_moveit_config demo. @ivanpauno Finally had some time to dig into this and learn quite a bit more about how things are structured. Only allow ExecuteProcess actions to execute once ( #375) Fix grammar in docstring ( #373) Release loop lock before waiting for it to do work ( #369) Adds Command substitution ( #367) Handle case where output buffer is closed during shutdown ( #365) Use imperative mood in docstrings. Here are the examples of the python api launch.actions.ExecuteProcess taken from open source projects. rviz2 does not show the images published on the topic, Best way to integrate ndarray into ros2 [closed], Launching a simple launchfile on ros2:foxy failed, Creative Commons Attribution Share Alike 3.0. As an alternative to a programmatic approach to the ROS 2 launch system's API, a declarative description features a WYSIWYG approach, easier to read, audit and maintain. What I have now is (it is a bit 'stupid' but I do not have any better ideas): If I start the controller node again and again from a terminal it works every time but here I see that in the ExecuteProcess method whenever I try to run the same process it crashes and raises a runtime error that says "ExecuteProcess action executed more than once". To handle the problem you can create function for controller description, and call it from on_exit() function, passed to the Event handler. The first reason is the most impactful, because it allows for a few use cases that aren't currently easy to implement: I still have some design questions in mind, like: The text was updated successfully, but these errors were encountered: I thought a little bit about this, and about how it would look in the new frontends (examples only in XML here). Launch the robot. This tutorial will explain everything you need to know about ROS2 launch files. Here's an example of what I'm doing. This command will take 2 arguments: name of the package + name of the launch file. ROS 2 Launch XML Format v0.1.0 Rationale. Rolling distro has the option respawn in the ExecuteProcess. i.e. The long running process in this case is simply a shell sleep 5 and the second process is just an echo: Interesting finding here, this works if I use OpaqueFunction as my on_exit action. Refresh the page, check Medium 's site. Please start posting anonymously - your entry will be published after you log in or create a new account. Something doesn't make sense though with that logic. Yes. Why? To review, open the file in an editor that reveals hidden Unicode characters. I got the following error messages. for display example - orientation output) Launch the Xsens MTi driver from your ament workspace: $ ros2 launch ros2_xsens_mti_driver xsens_mti_node.launch.py. [launch] provide default console and filesystem logging for executed processes, [launch] unexpected behaviour setting node_name on a multi-node process. You're terminating the whole program. You signed in with another tab or window. Just needed a place to park some thoughts. Thanks Gijs. As a result, it does not start another process (the echo). Another action in the on_exit list (a LogInfo()) executes properly in both cases. First, go into another terminal and source your ROS2 workspace. : So in each case the tag may accept different attributes, but it would be less verbose. Since ROS was started in 2007, a lot has changed in the robotics and ROS community. Please start posting anonymously - your entry will be published after you log in or create a new account. Please start posting anonymously - your entry will be published after you log in or create a new account. This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. RFSoC support added in the new ZCU111-PYNQ repository. I think that before continuing the discussion, it would be good to open a PR in ros2/design. 2 Answers Sorted by: 1 For ROS2, please see this link and this link. I have written a launch file takes in arguments and launches the 'data_processor' with a user-defined namespace, named 'data_processor_launch.py'. It has a function of a similar name generate_test_description(). Now go to the RViz screen. The command is executed on a docker machine. Configure your MTi device to output desired data (e.g. Than your on_exit_restart() function willl be called for each process, so just filter by name which process you want to restart: Thank you for the answer! An ExecuteContainer action. I've created a document in a fork of the design repo, but I'm not sure the document itself needs to be pulled there. If the whole program is terminated at the CTRL-C, then how could it still be running to print the LogInfo message? The whole idea is that I have a process that runs my simulator (specifically Webots). It may also inherit from Node, or take a Node in its constructor (is an implementation detail). [ROS2 foxy] Python launch argument scope when nesting launch files, How to define the execution of a sequence of launch actions within the ROS2 launch system, "required" atribute in node not working in XML launch files on foxy, micro_ros_setup No definition of [python3-vcstool] for OS [osx], Print complete message received in ROS2 C++ subscriber callback, [Autoware.Auto] euclidean cluster node detects surroundings as huge bounding box, CMakeError: package configuration by moveit_common, Canceling queued action goals - cancel_callback not getting called, python example of a motor hardware interface, Creative Commons Attribution Share Alike 3.0. In the example we're using, we are using 3 different names for: file: my_program.py. ROS2 launch files are a powerful tool for robotics applications. which creates event handlers and stores information. I can go set that up now if it looks like it's in good enough format for that discussion. Hello By voting up you can indicate which examples are most useful and appropriate. The file did not contain that function. to your account. ( #362) Instead of starting each process manually, they allow you to start multiple nodes with one command and add logic to your startup sequence. ROS2 launch Gazebo and spawn URDF robot using Execute Process. The Executable would contain any information needed by Execute to actually execute the executable described or introspect it. I am attempting to use ROS2 launch to kick off a non-ROS-node executable (a long running process). it doesn't just simply throw the program in the bin, it's a slightly more complex shutdown than that, which is why it does create a log from the shutdown. Already on GitHub? Wrap rclcpp::Node with basic Lifecycle behavior? Clone with Git or checkout with SVN using the repositorys web address. privacy statement. I have a ros launch file that starts a few nodes. <group> s: you can group together a collection of nodes to give them the same name remappings. In general, my idea is to separate descriptions from "Execute" actions. Learn more about bidirectional Unicode characters. Camera works fine when using the ZED Explorer. 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