Merge branch 'release/0.7.0'

CHANGELOG.md

@@ -4,6 +4,15 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](http://keepachangelog.com/).
 
 ## Unreleased
+## 0.7.0 - 2023-04-27
+### Added
+- `reconfigure`:
+  - ROS2 is now supported.
+
+### Removed
+- `uninode`:
+  - Node no longer produces warnings when using unimplmented functions.
+
 ## 0.6.0 - 2022-08-24
 ### Added
 - `reconfigure`:

README.md

@@ -256,16 +256,23 @@ To make your code runnable on `<= 0.4.0` stick to these rules:
 
 #### ROS 2
 
-Current implementation is not compatible with ROS2. Some parts are usable, however the reconfiguration part is not perfect. At least, the definition of the parameters and accessing their value seems working. Pull requests are welcome!
-
-Since it requires `dynamic_reconfigure` messages, you can download them [here](https://github.com/jara001/dynamic_reconfigure).
-
-If you want to test the reconfiguration, you have to pass the Node instance inside `node` argument:
+To use reconfiguration utility in ROS2, you have to pass the Node instance inside `node` argument:
 
 ```python
 P.reconfigure(node = node)
 ```
 
+In the current implementation following features are not supported:
+- enums,
+- linked variables.
+
+Because of the limitations of ROS2 API it is most likely that they will be never supported.
+
+As from the ROS2 Parameter API side these features are currently not implemented:
+- IntegerRange,
+- FloatingPointRange,
+- Arrays.
+
 
 ### Full example
 

autopsy/node.py

@@ -189,9 +189,6 @@ def __getattr__(self, name):
         """
 
         if ROS_VERSION == 1:
-            if hasattr(rospy, name):
-                print ("[WARNING] Unsupported attribute 'rospy.%s'." % name)
-
             return getattr(rospy, name)
         else:
             # Raise AttributeError
@@ -204,9 +201,4 @@ def __getattribute__(self, name):
         Arguments:
         name -- name of the attribute / method
         """
-
-        if ROS_VERSION == 2:
-            if not hasattr(NodeR1, name):
-                print ("[WARNING] Unsupported attribute 'self.%s'." % name)
-
         return super(Node, self).__getattribute__(name)

autopsy/reconfigure.py

@@ -115,13 +115,26 @@ def limit_value(new_value):
 
 
 # Message types
-from dynamic_reconfigure.msg import ConfigDescription, Config, Group, ParamDescription, BoolParameter, IntParameter, StrParameter, DoubleParameter, GroupState
-from dynamic_reconfigure.srv import Reconfigure
-
 if autopsy.node.ROS_VERSION == 1:
+    from dynamic_reconfigure.msg import ConfigDescription, Config, Group, ParamDescription, BoolParameter, IntParameter, StrParameter, DoubleParameter, GroupState
+    from dynamic_reconfigure.srv import Reconfigure
+
     # ROS1 compiles the messages into two, in contrast to ROS2.
     from dynamic_reconfigure.srv import ReconfigureResponse
 
+if autopsy.node.ROS_VERSION == 2:
+    # ROS2 uses different messages for rqt_reconfigure.
+    from rcl_interfaces.srv import SetParameters
+    from rcl_interfaces.msg import ParameterType, ParameterDescriptor, SetParametersResult, Parameter
+
+    # Translation of types to ParameterType
+    PTypes = {
+        bool: ParameterType.PARAMETER_BOOL,
+        int: ParameterType.PARAMETER_INTEGER,
+        float: ParameterType.PARAMETER_DOUBLE,
+        str: ParameterType.PARAMETER_STRING,
+    }
+
 
 # https://stackoverflow.com/questions/2440692/formatting-floats-without-trailing-zeros
 formatNumber = lambda x: ("%f" % x).rstrip("0").rstrip(".")
@@ -612,8 +625,8 @@ def __init__(self):
         https://stackoverflow.com/questions/1132941/least-astonishment-and-the-mutable-default-argument
         """
         self._parameters = ParameterDict()
-        self._description = ConfigDescription()
-        self._update = Config()
+        self._description = None
+        self._update = None
         pass
 
 
@@ -624,6 +637,19 @@ def reconfigure(self, namespace = None, node = None):
         else:
             self._node = node
 
+        # ROS2: Use current Parameter API.
+        if autopsy.node.ROS_VERSION == 2:
+            self._node.add_on_set_parameters_callback(self._reconfigure2Callback)
+
+            self._redescribe2()
+
+            self._node.declare_parameters(
+                namespace = namespace,
+                parameters = self._description,
+            )
+
+            return
+
         if namespace is None:
             namespace = self._node.get_name()
 
@@ -736,6 +762,21 @@ def _redescribe(self):
         )
 
 
+    def _redescribe2(self):
+        """Creates a description of the parameters for ROS2."""
+
+        self._description = [
+            (
+                _name,
+                _param.default,
+                ParameterDescriptor(
+                    type = PTypes[_param.type],
+                    description = _param.description,
+                )
+            ) for _name, _param in self._parameters.items()
+        ]
+
+
     def _reupdate(self):
         """Creates an update description of the parameters."""
 
@@ -754,6 +795,48 @@ def _reupdate(self):
         self._update = _config
 
 
+    def _reconfigure2Callback(self, parameters):
+        """Service callback for ROS2 dynamic reconfiguration.
+
+        Arguments:
+        parameters -- parameters to be set, list of Parameter
+
+        Returns:
+        result -- feedback whether the update was properly done, SetParametersResult
+        """
+
+        for param in parameters:
+            _old_value = self._parameters[param.name].value
+
+            # Try to set the new value
+            try:
+                # a) Try to use the callback
+                if self._parameters[param.name].callback is not None:
+                    # In ROS2 this could raise an Exception. If so, it is caught right away.
+                    _new_value = self._parameters[param.name].callback(param.value)
+
+                    # b) Check whether the value changed.
+                    if _new_value != param.value:
+                        self._parameters[param.name].callback(_old_value)
+                        raise ValueError("Value of parameter '%s' changed after callback." % (param.name))
+
+                # c) Try to store the value
+                self._parameters[param.name].value = param.value
+
+                # d) Check whether the value changed.
+                if self._parameters[param.name].value != param.value:
+                    self._parameters[param.name].value = _old_value
+                    raise ValueError("Value of parameter '%s' changed to different value. Maybe the variable is linked?" % (param.name))
+
+            except Exception as e:
+                return SetParametersResult(
+                    successful = False,
+                    reason = str(e),
+                )
+
+        return SetParametersResult(successful = True)
+
+
     def _reconfigureCallback(self, data, response = None):
         """Service callback for dynamic reconfiguration.
 

package.xml

@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autopsy</name>
-  <version>0.6.0</version>
+  <version>0.7.0</version>
   <description>A set of Python utils for F1Tenth project.</description>
 
   <maintainer email="[email protected]">Jaroslav Klapálek</maintainer>