Merge pull request #17 from robotpilot/develop

Bump to 0.3.0

.github/workflows/lint.yml

@@ -18,8 +18,10 @@ jobs:
         distribution: foxy
         linter: ${{ matrix.linter }}
         package-name: |
+          time_rclcpp_example
           my_first_ros_rclcpp_pkg
           my_first_ros_rclpy_pkg
           msg_srv_action_interface_example
           topic_service_action_rclpy_example
           topic_service_action_rclcpp_example
+          ros2env

README.md

@@ -23,70 +23,58 @@ $ git clone https://github.com/robotpilot/ros2-seminar-examples.git
 $ cd ~/robot_ws && colcon build --symlink-install
 ```
 
-## Run (my_first_ros_rclpy_pkg)
+## Run time_rclcpp_example package
 ```
-$ ros2 run my_first_ros_rclpy_pkg helloworld_subscriber
+$ ros2 run time_rclcpp_example time_example
 ```
 
+## Run my_first_ros_rclpy_pkg package
 ```
+$ ros2 run my_first_ros_rclpy_pkg helloworld_subscriber
 $ ros2 run my_first_ros_rclpy_pkg helloworld_publisher
 ```
 
-## Run (my_first_ros_rclcpp_pkg)
+## Run my_first_ros_rclcpp_pkg package
 ```
 $ ros2 run my_first_ros_rclcpp_pkg helloworld_subscriber
-```
-
-```
 $ ros2 run my_first_ros_rclcpp_pkg helloworld_publisher
 ```
 
-## Run (topic_service_action_rclpy_example)
-### Topic Publisher (argument node)
+## Run topic_service_action_rclpy_example package
 ```
 $ ros2 run topic_service_action_rclpy_example argument
-```
-### Service Client (operator node)
-```
 $ ros2 run topic_service_action_rclpy_example operator
-```
-### Topic Subscriber, Service Server, Action Server (calculator node)
-```
 $ ros2 run topic_service_action_rclpy_example calculator
-```
-### Action Client (checker node)
-```
 $ ros2 run topic_service_action_rclpy_example checker
-```
-```
 $ ros2 run topic_service_action_rclpy_example checker -g 100
-```
-### Run using launch (argument and calculator nodes)
-```
 $ ros2 launch topic_service_action_rclpy_example arithmetic.launch.py
 ```
 
-## Run (topic_service_action_rclcpp_example)
-### Topic Publisher (argument node)
+## Run topic_service_action_rclcpp_example package
 ```
 $ ros2 run topic_service_action_rclcpp_example argument
-```
-### Service Client (operator node)
-```
 $ ros2 run topic_service_action_rclcpp_example operator
-```
-### Topic Subscriber, Service Server, Action Server (calculator node)
-```
 $ ros2 run topic_service_action_rclcpp_example calculator
-```
-### Action Client (checker node)
-```
 $ ros2 run topic_service_action_rclcpp_example checker
-```
-```
 $ ros2 run topic_service_action_rclcpp_example checker -g 100.0
-```
-### Run using launch (argument and calculator nodes)
-```
 $ ros2 launch topic_service_action_rclcpp_example arithmetic.launch.py
 ```
+
+## Run ros2env package
+```
+$ ros2 env
+usage: ros2 env [-h] Call `ros2 env <command> -h` for more detailed usage. ...
+Various env related sub-commands
+optional arguments:
+  -h, --help            show this help message and exit
+Commands:
+  list  Output a list of ROS environment variables
+  set   Set ROS environment variables
+
+$ ros2 env list -a
+ROS_VERSION        = 2
+ROS_DISTRO         = foxy
+ROS_PYTHON_VERSION = 3
+ROS_DOMAIN_ID      = 7
+RMW_IMPLEMENTATION = rmw_fastrtps_cpp
+```

msg_srv_action_interface_example/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package msg_srv_action_interface_example
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.0 (2021-01-28)
+------------------
+
 0.2.0 (2021-01-06)
 ------------------
 * Added new ROS 2 interface package using msg, srv and action for ROS 2 seminar

msg_srv_action_interface_example/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>msg_srv_action_interface_example</name>
-  <version>0.2.0</version>
+  <version>0.3.0</version>
   <description>
     ROS 2 example for message, service and action interface
   </description>

my_first_ros_rclcpp_pkg/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package my_first_ros_rclcpp_pkg
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.0 (2021-01-28)
+------------------
+
 0.2.0 (2021-01-06)
 ------------------
 * Added ROS 2 basic package using rclcpp for ROS 2 seminar

my_first_ros_rclcpp_pkg/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>my_first_ros_rclcpp_pkg</name>
-  <version>0.2.0</version>
+  <version>0.3.0</version>
   <description>ROS 2 rclcpp basic package for the ROS 2 seminar</description>
   <maintainer email="[email protected]">Pyo</maintainer>
   <license>Apache License 2.0</license>

my_first_ros_rclpy_pkg/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package my_first_ros_rclpy_pkg
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.0 (2021-01-28)
+------------------
+
 0.2.0 (2021-01-06)
 ------------------
 * Added ROS 2 basic package using rclpy for ROS 2 seminar

my_first_ros_rclpy_pkg/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>my_first_ros_rclpy_pkg</name>
-  <version>0.2.0</version>
+  <version>0.3.0</version>
   <description>ROS 2 rclpy basic package for the ROS 2 seminar</description>
   <maintainer email="[email protected]">Pyo</maintainer>
   <license>Apache License 2.0</license>

my_first_ros_rclpy_pkg/setup.py

@@ -5,7 +5,7 @@
 
 setup(
     name=package_name,
-    version='0.2.0',
+    version='0.3.0',
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/ament_index/resource_index/packages',

ros2env/CHANGELOG.rst

@@ -0,0 +1,8 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package ros2env
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.0 (2021-01-28)
+------------------
+* Added ros2cli command and verbs for example of roc2cli
+* Contributors: Pyo

ros2env/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>ros2env</name>
+  <version>0.3.0</version>
+  <description>ROS 2 example package for the ROS 2 command line tools.</description>
+  <maintainer email="[email protected]">Pyo</maintainer>
+  <license>Apache License 2.0</license>
+  <author email="[email protected]">Jeremie Deray</author>
+  <author email="[email protected]">Pyo</author>
+  <author email="[email protected]">Darby Lim</author>
+  <depend>ros2cli</depend>
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>ament_xmllint</test_depend>
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

ros2env/ros2env/api/__init__.py

@@ -0,0 +1,48 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+# Copyright 2019 Canonical Ldt.
+# Copyright 2021 OROCA
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+
+def get_ros_env_list():
+    ros_version = os.getenv('ROS_VERSION', 'None')
+    ros_distro = os.getenv('ROS_DISTRO', 'None')
+    ros_python_version = os.getenv('ROS_PYTHON_VERSION', 'None')
+    ros_env_list = 'ROS_VERSION        = {0}\n\
+ROS_DISTRO         = {1}\n\
+ROS_PYTHON_VERSION = {2}\n'.format(ros_version, ros_distro, ros_python_version)
+    return ros_env_list
+
+
+def get_dds_env_list():
+    ros_domain_id = os.getenv('ROS_DOMAIN_ID', 'None')
+    rmw_implementation = os.getenv('RMW_IMPLEMENTATION', 'None')
+    dds_env_list = 'ROS_DOMAIN_ID      = {0}\n\
+RMW_IMPLEMENTATION = {1}\n'.format(ros_domain_id, rmw_implementation)
+    return dds_env_list
+
+
+def get_all_env_list():
+    ros_env_list = get_ros_env_list()
+    dds_env_list = get_dds_env_list()
+    all_env_list = ros_env_list + dds_env_list
+    return all_env_list
+
+
+def set_ros_env(env_name, env_value):
+    os.environ[env_name] = env_value
+    value = os.getenv(env_name, 'None')
+    return '{0} = {1}'.format(env_name, value)

ros2env/ros2env/command/env.py

@@ -0,0 +1,40 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+# Copyright 2019 Canonical Ldt.
+# Copyright 2021 OROCA
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ros2cli.command import add_subparsers_on_demand
+from ros2cli.command import CommandExtension
+
+
+class EnvCommand(CommandExtension):
+    """Various env related sub-commands."""
+
+    def add_arguments(self, parser, cli_name):
+        self._subparser = parser
+
+        # add arguments and sub-commands of verbs
+        add_subparsers_on_demand(
+            parser, cli_name, '_verb', 'ros2env.verb', required=False)
+
+    def main(self, *, parser, args):
+        if not hasattr(args, '_verb'):
+            # in case no verb was passed
+            self._subparser.print_help()
+            return 0
+
+        extension = getattr(args, '_verb')
+
+        # call the verb's main method
+        return extension.main(args=args)

ros2env/ros2env/verb/__init__.py

@@ -0,0 +1,44 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ros2cli.plugin_system import PLUGIN_SYSTEM_VERSION
+from ros2cli.plugin_system import satisfies_version
+
+
+class VerbExtension:
+    """
+    The extension point for 'env' verb extensions.
+
+    The following properties must be defined:
+    * `NAME` (will be set to the entry point name)
+
+    The following methods must be defined:
+    * `main`
+
+    The following methods can be defined:
+    * `add_arguments`
+    """
+
+    NAME = None
+    EXTENSION_POINT_VERSION = '0.1'
+
+    def __init__(self):
+        super(VerbExtension, self).__init__()
+        satisfies_version(PLUGIN_SYSTEM_VERSION, '^0.1')
+
+    def add_arguments(self, parser, cli_name):
+        pass
+
+    def main(self, *, args):
+        raise NotImplementedError()

ros2env/ros2env/verb/list.py

@@ -0,0 +1,44 @@
+# Copyright 2018 Open Source Robotics Foundation, Inc.
+# Copyright 2019 Canonical Ldt.
+# Copyright 2021 OROCA
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ros2env.api import get_all_env_list
+from ros2env.api import get_dds_env_list
+from ros2env.api import get_ros_env_list
+from ros2env.verb import VerbExtension
+
+
+class ListVerb(VerbExtension):
+    """Output a list of ROS environment variables."""
+
+    def add_arguments(self, parser, cli_name):
+        parser.add_argument(
+            '-a', '--all', action='store_true',
+            help='Display all environment variables.')
+        parser.add_argument(
+            '-r', '--ros-env', action='store_true',
+            help='Display the ROS environment variables.')
+        parser.add_argument(
+            '-d', '--dds-env', action='store_true',
+            help='Display the DDS environment variables.')
+
+    def main(self, *, args):
+        if args.ros_env:
+            message = get_ros_env_list()
+        elif args.dds_env:
+            message = get_dds_env_list()
+        else:
+            message = get_all_env_list()
+        print(message)