NASA_Challenge_[@xfiderek] Add ros_trick_bridge package (space-ros#42).

Adds package that spawns trick simulation as a subprocess and controls its lifecycle as ROS2 managed noe

ros_trick/ros_src/ros_trick_bridge/launch/ros_trick_bridge.launch.py

@@ -0,0 +1,150 @@
+# Copyright 2024 Blazej Fiderek (xfiderek)
+# 
+# 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
+# 
+#     https://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 launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    EmitEvent,
+    LogInfo,
+    RegisterEventHandler,
+)
+from launch.conditions import IfCondition
+from launch.events.matchers import matches_action
+from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch_ros.actions import LifecycleNode
+from launch_ros.event_handlers import OnStateTransition
+from launch_ros.events.lifecycle import ChangeState
+from launch_ros.substitutions import FindPackageShare
+from lifecycle_msgs.msg import Transition
+
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    namespace_arg = DeclareLaunchArgument(
+        "namespace", default_value="", description="ROS2 namespace"
+    )
+    node_name_arg = DeclareLaunchArgument(
+        "node_name", default_value="ros_trick_bridge", description="Node name"
+    )
+    autostart_arg = DeclareLaunchArgument(
+        "autostart",
+        default_value="True",
+        description="The bridge is a lifecycle node. Set this argument to true to transit to active on startup (start the simulation)",
+    )
+    param_file_arg = DeclareLaunchArgument(
+        "param_file",
+        default_value=[
+            FindPackageShare("ros_trick_bridge"),
+            "/params/ros_trick_bridge_example_params.yaml",
+        ],
+        description="ROS Trick Bridge config",
+    )
+
+    ros_trick_bridge_lifecycle_node = LifecycleNode(
+        package="ros_trick_bridge",
+        executable="ros_trick_bridge_node",
+        name=LaunchConfiguration("node_name"),
+        namespace=LaunchConfiguration("namespace"),
+        parameters=[LaunchConfiguration("param_file")],
+        output="both",
+        emulate_tty=True,
+    )
+
+    ros_trick_emit_configure_event = EmitEvent(
+        event=ChangeState(
+            lifecycle_node_matcher=matches_action(ros_trick_bridge_lifecycle_node),
+            transition_id=Transition.TRANSITION_CONFIGURE,
+        ),
+        condition=IfCondition(PythonExpression([LaunchConfiguration("autostart")])),
+    )
+    ros_trick_emit_activate_event = EmitEvent(
+        event=ChangeState(
+            lifecycle_node_matcher=matches_action(ros_trick_bridge_lifecycle_node),
+            transition_id=Transition.TRANSITION_ACTIVATE,
+        ),
+        condition=IfCondition(PythonExpression([LaunchConfiguration("autostart")])),
+    )
+    ros_trick_inactive_state_handler = RegisterEventHandler(
+        OnStateTransition(
+            target_lifecycle_node=ros_trick_bridge_lifecycle_node,
+            goal_state="inactive",
+            entities=[
+                ros_trick_emit_activate_event,
+            ],
+        ),
+        condition=IfCondition(PythonExpression([LaunchConfiguration("autostart")])),
+    )
+
+    # Add logging for debugging
+    ld.add_action(LogInfo(msg="Launching ROS Trick Bridge Lifecycle Node"))
+    ld.add_action(namespace_arg)
+    ld.add_action(node_name_arg)
+    ld.add_action(autostart_arg)
+    ld.add_action(param_file_arg)
+    ld.add_action(ros_trick_bridge_lifecycle_node)
+    ld.add_action(ros_trick_inactive_state_handler)
+    ld.add_action(ros_trick_emit_configure_event)
+    ld.add_action(LogInfo(msg="Emitting configure event"))
+
+    # Add event handlers for logging state transitions
+    ld.add_action(
+        RegisterEventHandler(
+            OnStateTransition(
+                target_lifecycle_node=ros_trick_bridge_lifecycle_node,
+                start_state="unconfigured",
+                goal_state="configuring",
+                entities=[
+                    LogInfo(msg="Transitioning from 'unconfigured' to 'configuring'")
+                ],
+            )
+        )
+    )
+
+    ld.add_action(
+        RegisterEventHandler(
+            OnStateTransition(
+                target_lifecycle_node=ros_trick_bridge_lifecycle_node,
+                start_state="configuring",
+                goal_state="inactive",
+                entities=[
+                    LogInfo(msg="Transitioning from 'configuring' to 'inactive'")
+                ],
+            )
+        )
+    )
+
+    ld.add_action(
+        RegisterEventHandler(
+            OnStateTransition(
+                target_lifecycle_node=ros_trick_bridge_lifecycle_node,
+                start_state="inactive",
+                goal_state="activating",
+                entities=[LogInfo(msg="Transitioning from 'inactive' to 'activating'")],
+            )
+        )
+    )
+
+    ld.add_action(
+        RegisterEventHandler(
+            OnStateTransition(
+                target_lifecycle_node=ros_trick_bridge_lifecycle_node,
+                start_state="activating",
+                goal_state="active",
+                entities=[LogInfo(msg="Transitioning from 'activating' to 'active'")],
+            )
+        )
+    )
+
+    return ld

ros_trick/ros_src/ros_trick_bridge/package.xml

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+<?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>ros_trick_bridge</name>
+  <version>0.0.0</version>
+  <description>Bridge between ROS and NASA Trick simulator</description>
+  <maintainer email="[email protected]">Blazej Fiderek (xfiderek)</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

ros_trick/ros_src/ros_trick_bridge/params/ros_trick_bridge_example_params.yaml

@@ -0,0 +1,8 @@
+ros_trick_bridge:
+  ros__parameters:
+    sim_directory: /opt/trick_sims/SIM_trick_canadarm
+    sim_inputfile: RUN_2DPlanar/input.py
+    sim_executable: S_main_Linux_11.4_x86_64.exe
+    sim_args: ''
+    publish_clock: true
+    clock_publish_period: 0.02

ros_trick/ros_src/ros_trick_bridge/resource/ros_trick_bridge

@@ -0,0 +1,14 @@
+// Copyright 2024 Blazej Fiderek (xfiderek)
+// 
+// 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
+// 
+//     https://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.
+

ros_trick/ros_src/ros_trick_bridge/ros_trick_bridge/__init__.py

@@ -0,0 +1,13 @@
+# Copyright 2024 Blazej Fiderek (xfiderek)
+# 
+# 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
+# 
+#     https://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.