Merge pull request #31 from ika-rwth-aachen/features/ros2-component

ROS2 Component

Author: lreiher

.github/workflows/docker-ros.yml

@@ -7,7 +7,7 @@ jobs:
   ros:
     runs-on: ubuntu-latest
     steps:
-      - uses: ika-rwth-aachen/docker-ros@v1.0.0
+      - uses: ika-rwth-aachen/docker-ros@main
         with:
           image-tag: ros
           base-image: rwthika/ros:latest
@@ -18,7 +18,7 @@ jobs:
   ros2:
     runs-on: ubuntu-latest
     steps:
-      - uses: ika-rwth-aachen/docker-ros@v1.0.0
+      - uses: ika-rwth-aachen/docker-ros@main
         with:
           image-tag: ros2
           base-image: rwthika/ros2:latest

.gitlab-ci.ros.yml

@@ -1,9 +1,26 @@
 ros:
   trigger:
-    include: .gitlab-ci.ros.yml
+    include:
+      - remote: https://raw.githubusercontent.com/ika-rwth-aachen/docker-ros/main/.gitlab-ci/docker-ros.yml
     strategy: depend
+  variables:
+    IMAGE_TAG: ros
+    BASE_IMAGE: rwthika/ros:latest
+    COMMAND: roslaunch mqtt_client standalone.launch
+    PLATFORM: amd64,arm64
+    TARGET: dev,run
+    ENABLE_INDUSTRIAL_CI: 'true'
 
 ros2:
   trigger:
-    include: .gitlab-ci.ros2.yml
+    include:
+      - remote: https://raw.githubusercontent.com/ika-rwth-aachen/docker-ros/main/.gitlab-ci/docker-ros.yml
     strategy: depend
+  variables:
+    IMAGE_TAG: ros2
+    BASE_IMAGE: rwthika/ros2:latest
+    COMMAND: ros2 launch mqtt_client standalone.launch.ros2.xml
+    PLATFORM: amd64,arm64
+    TARGET: dev,run
+    ENABLE_INDUSTRIAL_CI: 'true'
+    ENABLE_PUSH_AS_LATEST: 'true'

.gitlab-ci.ros2.yml

@@ -10,7 +10,7 @@
   <a href="https://github.com/ika-rwth-aachen/mqtt_client"><img src="https://img.shields.io/github/stars/ika-rwth-aachen/mqtt_client?style=social"/></a>
 </p>
 
-The *mqtt_client* package provides a ROS nodelet or ROS 2 node that enables connected ROS-based devices or robots to exchange ROS messages via an MQTT broker using the [MQTT](http://mqtt.org) protocol. This works generically for arbitrary ROS message types. The *mqtt_client* can also exchange primitive messages with MQTT clients running on devices not based on ROS.
+The *mqtt_client* package provides a ROS nodelet or ROS 2 component node that enables connected ROS-based devices or robots to exchange ROS messages via an MQTT broker using the [MQTT](http://mqtt.org) protocol. This works generically for arbitrary ROS message types. The *mqtt_client* can also exchange primitive messages with MQTT clients running on devices not based on ROS.
 
 - [Installation](#installation)
   - [docker-ros](#docker-ros)
@@ -109,7 +109,7 @@ bridge:
 
 #### Demo Client Launch
 
-After building your ROS workspace, launch the *mqtt_client* nodelet with the pre-configured demo parameters using *roslaunch*, which should yield the following output.
+After building your ROS workspace, launch the *mqtt_client* node with the pre-configured demo parameters using *roslaunch*, which should yield the following output.
 
 ```bash
 # ROS
@@ -126,8 +126,8 @@ ros2 launch mqtt_client standalone.launch.ros2.xml
 [ WARN] [1665575657.360300703]: Parameter 'client/clean_session' not set, defaulting to '1'
 [ WARN] [1665575657.360576344]: Parameter 'client/keep_alive_interval' not set, defaulting to '60.000000'
 [ WARN] [1665575657.360847295]: Parameter 'client/max_inflight' not set, defaulting to '65535'
-[ INFO] [1665575657.361281461]: Bridging ROS topic '/ping/ros' to MQTT topic 'pingpong/ros' 
-[ INFO] [1665575657.361303380]: Bridging primitive ROS topic '/ping/primitive' to MQTT topic 'pingpong/primitive' 
+[ INFO] [1665575657.361281461]: Bridging ROS topic '/ping/ros' to MQTT topic 'pingpong/ros'
+[ INFO] [1665575657.361303380]: Bridging primitive ROS topic '/ping/primitive' to MQTT topic 'pingpong/primitive'
 [ INFO] [1665575657.361352809]: Bridging MQTT topic 'pingpong/ros' to ROS topic '/pong/ros'
 [ INFO] [1665575657.361370558]: Bridging MQTT topic 'pingpong/primitive' to primitive ROS topic '/pong/primitive'
 [ INFO] [1665575657.362153083]: Connecting to broker at 'tcp://localhost:1883' ...
@@ -169,7 +169,7 @@ ros2 launch mqtt_client standalone.launch.ros2.xml params_file:=$(ros2 pkg prefi
 ```bash
 # 3rd terminal: publish primitive ROS message to /ping/primitive
 
-# ROS1
+# ROS
 rostopic pub -r 1 /ping/primitive std_msgs/Int32 42
 
 # ROS2
@@ -195,7 +195,7 @@ If everything works as expected, the second terminal should print a message at 1
 
 ### Launch
 
-You can start the *mqtt_client* nodelet in a standalone nodelet manager with:
+You can start the *mqtt_client* node with:
 
 ```bash
 # ROS
@@ -215,7 +215,7 @@ roslaunch mqtt_client standalone.launch params_file:="</PATH/TO/PARAMS.YAML>"
 ros2 launch mqtt_client standalone.launch.ros2.xml params_file:="</PATH/TO/PARAMS.YAML>"
 ```
 
-In order to exploit the benefits of *mqtt_client* being a ROS 1 nodelet, load the nodelet to your own nodelet manager shared with other nodelets.
+In order to exploit the benefits of *mqtt_client* being a ROS nodelet / ROS 2 component, load the nodelet / component to your own nodelet manager / component container.
 
 ### Configuration
 
@@ -261,7 +261,7 @@ client:
 
 #### Bridge Parameters
 
-##### ROS 1
+##### ROS
 
 ```yaml
 bridge:
@@ -369,19 +369,19 @@ Enables connected ROS-based devices or robots to exchange ROS messages via an MQ
 
 ###### Subscribed Topics
 
-- `<bridge/ros2mqtt[*]/ros_topic>` ([`topic_tools/ShapeShifter`](http://wiki.ros.org/topic_tools))  
+- `<bridge/ros2mqtt[*]/ros_topic>` ([`topic_tools/ShapeShifter`](http://wiki.ros.org/topic_tools))
   ROS topic whose messages are transformed to MQTT messages and sent to the MQTT broker. May have arbitrary ROS message type.
 
 ###### Published Topics
 
-- `<bridge/mqtt2ros[*]/ros_topic>` ([`topic_tools/ShapeShifter`](http://wiki.ros.org/topic_tools))  
+- `<bridge/mqtt2ros[*]/ros_topic>` ([`topic_tools/ShapeShifter`](http://wiki.ros.org/topic_tools))
   ROS topic on which MQTT messages received from the MQTT broker are published. May have arbitrary ROS message type.
-- `~/latencies/<bridge/mqtt2ros[*]/ros_topic>` ([`std_msgs/Float64`](https://docs.ros.org/en/api/std_msgs/html/msg/Float64.html))  
+- `~/latencies/<bridge/mqtt2ros[*]/ros_topic>` ([`std_msgs/Float64`](https://docs.ros.org/en/api/std_msgs/html/msg/Float64.html))
   Latencies measured on the message transfer to `<bridge/mqtt2ros[*]/ros_topic>` are published here, if the received messages have a timestamp injected (see [Latency Computation](#latency-computation)).
 
 ###### Services
 
-- `is_connected` ([`mqtt_client/srv/IsConnected`](mqtt_client_interfaces/srv/IsConnected.srv))  
+- `is_connected` ([`mqtt_client/srv/IsConnected`](mqtt_client_interfaces/srv/IsConnected.srv))
   Returns whether the client is connected to the MQTT broker.
 
 ###### Parameters
@@ -390,27 +390,27 @@ See [Configuration](#configuration).
 
 ### ROS 2
 
-#### Nodes
+#### Components
 
-##### `mqtt_client/mqtt_client`
+##### `mqtt_client/MqttClient`
 
 Enables connected ROS-based devices or robots to exchange ROS messages via an MQTT broker using the [MQTT](http://mqtt.org) protocol.
 
 ###### Subscribed Topics
 
-- `<bridge/ros2mqtt/ros_topic>` ([`rclcpp::SerializedMessage`](https://docs.ros.org/en/ros2_packages/rolling/api/rclcpp/generated/classrclcpp_1_1GenericSubscription.html))  
+- `<bridge/ros2mqtt/ros_topic>` ([`rclcpp::SerializedMessage`](https://docs.ros.org/en/ros2_packages/rolling/api/rclcpp/generated/classrclcpp_1_1GenericSubscription.html))
   ROS topic whose messages are transformed to MQTT messages and sent to the MQTT broker. May have arbitrary ROS message type.
 
 ###### Published Topics
 
-- `<bridge/mqtt2ros/ros_topic>` ([`rclcpp::SerializedMessage`](https://docs.ros.org/en/ros2_packages/rolling/api/rclcpp/generated/classrclcpp_1_1GenericPublisher.html))  
+- `<bridge/mqtt2ros/ros_topic>` ([`rclcpp::SerializedMessage`](https://docs.ros.org/en/ros2_packages/rolling/api/rclcpp/generated/classrclcpp_1_1GenericPublisher.html))
   ROS topic on which MQTT messages received from the MQTT broker are published. May have arbitrary ROS message type.
-- `~/latencies/<bridge/mqtt2ros/ros_topic>` ([`std_msgs/Float64`](https://docs.ros.org/en/api/std_msgs/html/msg/Float64.html))  
+- `~/latencies/<bridge/mqtt2ros/ros_topic>` ([`std_msgs/Float64`](https://docs.ros.org/en/api/std_msgs/html/msg/Float64.html))
   Latencies measured on the message transfer to `<bridge/mqtt2ros/ros_topic>` are published here, if the received messages have a timestamp injected (see [Latency Computation](#latency-computation)).
 
 ###### Services
 
-- `is_connected` ([`mqtt_client/srv/IsConnected`](mqtt_client_interfaces/srv/IsConnected.srv))  
+- `is_connected` ([`mqtt_client/srv/IsConnected`](mqtt_client_interfaces/srv/IsConnected.srv))
   Returns whether the client is connected to the MQTT broker.
 
 ###### Parameters

.gitlab-ci.yml

@@ -18,34 +18,42 @@ if(${ROS_VERSION} EQUAL 2)
   find_package(fmt REQUIRED)
   find_package(mqtt_client_interfaces REQUIRED)
   find_package(rclcpp REQUIRED)
+  find_package(rclcpp_components REQUIRED)
   find_package(std_msgs REQUIRED)
 
   # Paho MQTT C++ apt package doesn't include CMake config
   # find_package(PahoMqttCpp REQUIRED)
   find_library(PahoMqttC_LIBRARY libpaho-mqtt3as.so.1 REQUIRED)
   find_library(PahoMqttCpp_LIBRARY libpaho-mqttpp3.so.1 REQUIRED)
 
-  add_executable(${PROJECT_NAME} src/MqttClient.ros2.cpp)
+  add_library(${PROJECT_NAME}_lib SHARED src/MqttClient.ros2.cpp)
 
-  target_include_directories(${PROJECT_NAME} PUBLIC
+  rclcpp_components_register_node(${PROJECT_NAME}_lib
+    PLUGIN "mqtt_client::MqttClient"
+    EXECUTABLE ${PROJECT_NAME}
+  )
+
+  target_include_directories(${PROJECT_NAME}_lib PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>)
 
-  target_link_libraries(${PROJECT_NAME}
+  target_link_libraries(${PROJECT_NAME}_lib
     ${PahoMqttC_LIBRARY}
     ${PahoMqttCpp_LIBRARY}
   )
 
-  ament_target_dependencies(${PROJECT_NAME}
+  ament_target_dependencies(${PROJECT_NAME}_lib
     fmt
     mqtt_client_interfaces
     rclcpp
+    rclcpp_components
     std_msgs
   )
 
-  install(TARGETS
-    ${PROJECT_NAME}
-    DESTINATION lib/${PROJECT_NAME}
+  install(TARGETS ${PROJECT_NAME}_lib
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin
   )
 
   install(

README.md

@@ -63,8 +63,10 @@ class MqttClient : public rclcpp::Node,
  public:
   /**
    * @brief Initializes node.
+   *
+   * @param[in]   options   ROS node options
    */
-  MqttClient();
+  explicit MqttClient(const rclcpp::NodeOptions& options);
 
  protected:
   /**

mqtt_client/CMakeLists.txt

@@ -27,14 +27,15 @@
   <depend condition="$ROS_VERSION == 2">libpaho-mqtt-dev</depend>
   <depend condition="$ROS_VERSION == 2">libpaho-mqttpp-dev</depend>
   <depend condition="$ROS_VERSION == 2">rclcpp</depend>
+  <depend condition="$ROS_VERSION == 2">rclcpp_components</depend>
   <depend condition="$ROS_VERSION == 2">rcpputils</depend>
 
   <!-- ROS1 -->
   <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
   <depend condition="$ROS_VERSION == 1">nodelet</depend>
   <depend condition="$ROS_VERSION == 1">paho-mqtt-cpp</depend>
   <depend condition="$ROS_VERSION == 1">roscpp</depend>
-  <depend condition="$ROS_VERSION == 1">rosfmt</depend> <!-- Needed for fmt library. -->
+  <depend condition="$ROS_VERSION == 1">rosfmt</depend>
   <depend condition="$ROS_VERSION == 1">topic_tools</depend>
 
   <export>

mqtt_client/include/mqtt_client/MqttClient.ros2.hpp

@@ -47,6 +47,9 @@ SOFTWARE.
 #include <std_msgs/msg/u_int64.hpp>
 #include <std_msgs/msg/u_int8.hpp>
 
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(mqtt_client::MqttClient)
+
 
 namespace mqtt_client {
 
@@ -138,7 +141,7 @@ bool primitiveRosMessageToString(
 }
 
 
-MqttClient::MqttClient() : Node("mqtt_client") {
+MqttClient::MqttClient(const rclcpp::NodeOptions& options) : Node("mqtt_client", options) {
 
   loadParameters();
   setup();
@@ -1007,13 +1010,3 @@ void MqttClient::on_failure(const mqtt::token& token) {
 }
 
 }  // namespace mqtt_client
-
-
-int main(int argc, char* argv[]) {
-
-  rclcpp::init(argc, argv);
-  rclcpp::spin(std::make_shared<mqtt_client::MqttClient>());
-  rclcpp::shutdown();
-
-  return 0;
-}