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QA ROS 2 adapter (#37)
* Qos documentation (#31) * Add QoS to readme * Add links to profile details * Add example profile, remove debug prints * Add section to readme * Test service calls (#32) * Add examples in tests folder * Update README.md * Update README.md * Dedicated config examples folder * Rename config examples * Start subscribers test * Query for subscribers test * Config for subscribers test * Test subscribers with message paths * Add config for QoS test * Organize files * Change name of topics and streams * Add more configs * Add config for service call tests * Point to example config in readme * Add testing instructions to readme * Add tf bag and config * Add config for localization test * Update localization config * Add localization bag * Add readme for tf test * Add readme for localization test * Add helper script that sends command * Add readme for publisher test * Combine subscribers test config * Delete config_test_subscribers_message_paths.json * Create readme for subscriber test * Change topic names * Create readme for QoS test * Change message name and type in publisher test * Update publisher test readme * Update tf readme * Update localization readme * Change test publisher to test teleop * Update teleop test config * Update teleop test readme * Add button to teleop config * Add button to teleop test readme
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‎README.md‎

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@@ -24,6 +24,7 @@ The `subscribers` section defines a list of ROS 2 topics that the adapter will s
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| `ros2_message_paths` | The list of paths configurations to ingest data from |
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| `ros2_message_paths/path` | The path within the ROS 2 message |
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| `ros2_message_paths/tags` | The tag set to ingest data with |
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| `ros2_qos_profile` | The Quality of Service profile for the messages |
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#### Example
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"example_key": "example_value"
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}
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}
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]
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],
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"ros2_qos_profile": "SYSTEM_DEFAULT"
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}
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]
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}
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| `formant_stream` | The name of the Formant stream to publish data from |
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| `ros2_topic` | The name of the ROS 2 topic to publish data to |
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| `ros2_message_type` | The type of ROS 2 topic to publish data to |
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| `ros2_qos_profile` | The Quality of Service profile for the messages |
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#### Example
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"formant_stream": "example.stream",
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"ros2_topic": "/example_topic",
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"ros2_message_type": "example_msgs/msg/ExampleType",
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"ros2_qos_profile": "SYSTEM_DEFAULT"
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}
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]
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}
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Stream name will be automatically configured from the topic if it is not set. (e.g. "/base/cmd_vel" -> "base.cmd_vel") The `"stream"` configuration can be set to change the stream name of ingested datapoints manually.
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### Quality of Service profiles
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The adapter currently supports selecting from a set of predefined Quality of Service profiles for publishers and subscribers, based on these default profiles: https://docs.ros.org/en/rolling/Concepts/About-Quality-of-Service-Settings.html#qos-profiles
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The possible configuration options are:
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- SYSTEM_DEFAULT
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- SENSOR_DATA
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- SERVICES_DEFAULT
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- PARAMETERS
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- PARAMETER_EVENTS
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- ACTION_STATUS_DEFAULT (reliable reliability, transient local durability)
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- EXAMPLE_CUSTOM (keep all history)
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The EXAMPLE_CUSTOM option shows how additional custom profiles can be created in the code of the adapter.
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## Running the adapter
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The repo can either be zipped and configured as an adapter in Formant with "Exec command" `./start.sh`, or can be run manually.
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ros2 run formant_ros2_adapter main.py
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```
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NOTE: This is untested with ROS 2 Humble
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NOTE: This is untested with fastdds
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NOTE: This is untested with fastdds

‎formant_ros2_adapter/scripts/config_example_small.json‎

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‎formant_ros2_adapter/scripts/config_example.json‎ renamed to ‎formant_ros2_adapter/scripts/config_examples/config_example_full.json‎

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‎tests/test_localization/README.md‎

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# Test Localization
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1. Set adapter config to `config_test_localization.json`
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2. Run the adapter
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3. Run `ros2 bag play rosbag2_turtlebot3_localization`
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You should see localization data appear in Formant.

‎tests/test_localization/config_test_localization.json‎

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{
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"ros2_adapter_configuration": {
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"localization": {
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"formant_stream": "turtlebot3.localization",
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"base_reference_frame": "map",
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"odometry_subscriber_ros2_topic": "/odom",
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"map_subscriber_ros2_topic": "/local_costmap/costmap_raw",
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"point_cloud_subscriber_ros2_topics": [{"ros2_topic": "/scan"}]
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}
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}
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}

‎tests/test_localization/rosbag2_turtlebot3_localization/metadata.yaml‎

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rosbag2_bagfile_information:
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version: 5
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storage_identifier: sqlite3
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duration:
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nanoseconds: 51638487753
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starting_time:
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nanoseconds_since_epoch: 1680817048427117683
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message_count: 1849
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topics_with_message_count:
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- topic_metadata:
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name: /odom
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type: nav_msgs/msg/Odometry
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serialization_format: cdr
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offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
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message_count: 1506
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- topic_metadata:
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name: /local_costmap/costmap_raw
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type: nav2_msgs/msg/Costmap
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serialization_format: cdr
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offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 1\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
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message_count: 86
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- topic_metadata:
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name: /scan
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type: sensor_msgs/msg/LaserScan
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serialization_format: cdr
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offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 1\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false"
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message_count: 257
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compression_format: ""
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compression_mode: ""
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relative_file_paths:
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- rosbag2_2023_04_06-21_37_28_0.db3
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files:
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- path: rosbag2_2023_04_06-21_37_28_0.db3
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starting_time:
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nanoseconds_since_epoch: 1680817048427117683
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duration:
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nanoseconds: 51638487753
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message_count: 1849

‎tests/test_localization/rosbag2_turtlebot3_localization/rosbag2_2023_04_06-21_37_28_0.db3‎

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‎tests/test_qos/README.md‎

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# Test Quality of Service Settings
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### Subscriber
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Create a subscriber with "reliable" reliability (e.g. what's in `config_test_qos.json`).
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Publish a message with "best effort" reliability:
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`ros2 topic pub /my_string std_msgs/msg/String "data: {key: value}" --qos-profile sensor_data`
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QoS is working correctly if you get this message:
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`[WARN] [<timestamp>] [<ros2cli>]: New subscription discovered on topic '/my_string', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY`
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### Publisher
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Create a publisher with "best effort" reliability (e.g. what's in `config_test_qos.json`).
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Echo that topic with "reliable" reliability:
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`ros2 topic echo /my_command_for_publisher --qos-reliability reliable`
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QoS is working correctly if you get this message:
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`[WARN] [<timestamp>] [<ros2cli>]: New publisher discovered on topic '/my_command_for_publisher', offering incompatible QoS. No messages will be received from it. Last incompatible policy: RELIABILITY`

‎tests/test_qos/config_test_qos.json‎

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{
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"ros2_adapter_configuration": {
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"subscribers": [
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{
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"ros2_topic": "/my_string",
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"ros2_message_type": "std_msgs/msg/String",
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"formant_stream": "my.string",
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"ros2_qos_profile": "PARAMETERS"
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}
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],
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"publishers": [
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{
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"ros2_topic": "/my_command_for_publisher",
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"ros2_message_type": "std_msgs/msg/String",
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"formant_stream": "my.command.for.publisher",
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"ros2_qos_profile": "SENSOR_DATA"
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}
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]
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}
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}

‎tests/test_service_calls/README.md‎

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# Test ROS 2 services
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This directory contains a set of ROS 2 interfaces and service servers that can be used to test the service call functionality of the Formant ROS 2 adapter. They can also easily be duplicated and modified for different uses. The instructions and examples are based on these tutorials:
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https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Custom-ROS2-Interfaces.html
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https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html
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and use this as a template:
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https://github.com/ros2/examples/tree/humble/rclpy/services/minimal_service
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## Setup instructions
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Set up a colcon workspace if you haven't already, and put the contents of "src" into the workspace's "src". Build all of the packages by running `colcon build`, or individual packages with `colcon build --packages-select {package name, e.g. formant_int}`.
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Source the packages with source `{workspace}/install/setup.bash`.
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Run `ros2 pkg list`, `ros2 pkg executables {package}`, `ros2 interface list`, and `ros2 interface show {interface}` to see the new services and how to use them ([this example config](https://github.com/FormantIO/ros2-adapter/blob/qa-adapter/tests/test_service_calls/config_test_service_calls.json) also shows the names of the services and interfaces).
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## Testing
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1. Run the ROS 2 adapter with the service calls configured (e.g. [this example config](https://github.com/FormantIO/ros2-adapter/blob/qa-adapter/tests/test_service_calls/config_test_service_calls.json))
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2. Run the service server (e.g. `ros2 run formant_int service`)
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3. Send a command or publish to a topic from Formant whose name matches the `formant_stream` field in the config (e.g. `ros2_service_test_set_int`)
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## Creating more examples
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New interfaces can easily be created by following the "Custom-ROS2-Interfaces" tutorial mentioned above.
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To create new service call servers, you can take a shortcut and copy/modify one of the existing examples. You will notice that they are all almost the same structurally, but there are a few things that need to be changed:
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* "package.xml": `name` field, maybe `exec_depend` depending on the dependencies
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* "setup.py": `package_name`, `entry_points` fields
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* "setup.cfg": `script_dir` and `install_dir` fields
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* "resource" folder: change name of file inside to match packge
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* "service.py": what the service actually does

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