Merge pull request #2 from NVIDIA-ISAAC-ROS/release-2.1

Isaac ROS 2.1.0

config/nitros_bridge_no_namespace.yaml

@@ -0,0 +1,9 @@
+topics:
+  -
+    topic: /ros1_input_bridge_image  # Topic name for ros1 bridge
+    type: isaac_ros_nitros_bridge_interfaces/msg/NitrosBridgeImage # Type type for ros1 bridge
+    queue_size: 10 
+  -
+    topic: /ros1_output_bridge_image # Topic name for ros1 bridge
+    type: isaac_ros_nitros_bridge_interfaces/msg/NitrosBridgeImage # Type type for ros1 bridge
+    queue_size: 10 

isaac_ros_nitros_bridge_ros1/CMakeLists.txt

@@ -67,6 +67,7 @@ install(TARGETS isaac_ros_nitros_bridge_ros1
 
 install(FILES
   launch/r2b_converter.launch
+  launch/isaac_ros_image_converter.launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
 )
 

isaac_ros_nitros_bridge_ros1/launch/isaac_ros_image_converter.launch

@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+
+<!--
+ SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+
+ 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.
+
+ SPDX-License-Identifier: Apache-2.0
+-->
+
+<launch> 
+  <node pkg="nodelet"
+        type="nodelet"
+        name="standalone_nodelet" 
+        args="manager"
+        output="screen"/>
+  <remap from="/ImageConverterNode/ros1_input_image" to="/image"/>
+  <remap from="/ImageConverterNode/ros1_output_image" to="/ros1_output_image"/>
+  <remap from="/ImageConverterNode/ros1_input_bridge_image" to="/ros1_input_bridge_image"/>
+  <remap from="/ImageConverterNode/ros1_output_bridge_image" to="/ros1_output_bridge_image"/>
+  <node pkg="nodelet"
+        type="nodelet"
+        name="ImageConverterNode"
+        args="load isaac_ros_nitros_bridge_ros1/ImageConverterNode standalone_nodelet"
+        output="screen"/>
+</launch>

isaac_ros_nitros_bridge_ros1/package.xml

@@ -20,7 +20,7 @@
 
 <package format="2">
   <name>isaac_ros_nitros_bridge_ros1</name>
-  <version>2.0.0</version>
+  <version>2.1.0</version>
   <description>Converter between NITROS bridge messages and ROS1 messages</description>
   <maintainer email="[email protected]">Yuankun Zhu</maintainer>
   <license>Apache-2.0</license>

isaac_ros_nitros_bridge_ros2/launch/isaac_ros_image_converter.launch.py

@@ -0,0 +1,129 @@
+# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
+# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# 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.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+import os
+import subprocess
+import time
+
+import launch
+
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+import launch_testing.actions
+
+ROS1_INSTALL_PATH = 'install_isolated/setup.bash'
+BRIDGE_CONFIG_PATH = 'src/isaac_ros_nitros_bridge/config/nitros_bridge_no_namespace.yaml'
+
+
+def launch_setup(context):
+    ros1_ws_path = LaunchConfiguration('ros1_ws_path').perform(context)
+    pub_image_name = LaunchConfiguration('pub_image_name').perform(context)
+    sub_image_name = LaunchConfiguration('sub_image_name').perform(context)
+
+    roscore_cmd = 'source /opt/ros/noetic/setup.bash && roscore'
+    subprocess.Popen(
+        roscore_cmd,
+        env=os.environ,
+        stdout=subprocess.PIPE,
+        stderr=subprocess.PIPE,
+        shell=True,
+        executable='/bin/bash'
+    )
+    # Wait one second to ensure roscore is fully launched
+    time.sleep(1)
+
+    ros1_setup_path = os.path.join(ros1_ws_path, ROS1_INSTALL_PATH)
+    stop_ros_nodes_cmd = f'source {ros1_setup_path} && rosnode kill -a'
+    subprocess.run(
+        stop_ros_nodes_cmd,
+        env=os.environ,
+        stdout=subprocess.PIPE,
+        stderr=subprocess.PIPE,
+        shell=True,
+        executable='/bin/bash'
+    )
+
+    bridge_config_absolute_path = os.path.join(ros1_ws_path, BRIDGE_CONFIG_PATH)
+    ros1_converter_cmd = f'source {ros1_setup_path} \
+        && rosparam load {bridge_config_absolute_path} \
+        && roslaunch isaac_ros_nitros_bridge_ros1 isaac_ros_image_converter.launch'
+    subprocess.Popen(
+        ros1_converter_cmd,
+        env=os.environ,
+        stdout=subprocess.PIPE,
+        stderr=subprocess.PIPE,
+        shell=True,
+        executable='/bin/bash'
+    )
+
+    ros1_bridge_cmd = 'ros2 run ros1_bridge parameter_bridge'
+    subprocess.Popen(
+        ros1_bridge_cmd,
+        env=os.environ,
+        stdout=subprocess.PIPE,
+        stderr=subprocess.PIPE,
+        shell=True
+    )
+
+    ros2_converter = ComposableNode(
+        name='ros2_converter',
+        namespace='',
+        package='isaac_ros_nitros_bridge_ros2',
+        plugin='nvidia::isaac_ros::nitros_bridge::ImageConverterNode',
+        remappings=[
+            ('ros2_output_bridge_image', 'ros1_input_bridge_image'),
+            ('ros2_output_image', pub_image_name),
+            ('ros2_input_bridge_image', 'ros1_output_bridge_image'),
+            ('ros2_input_image', sub_image_name),
+        ])
+
+    container = ComposableNodeContainer(
+        name='ros2_converter_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container_mt',
+        composable_node_descriptions=[ros2_converter],
+        output='screen',
+        arguments=['--ros-args', '--log-level', 'info']
+    )
+    return [container]
+
+
+def generate_launch_description():
+    launch_args = [
+        DeclareLaunchArgument(
+            'ros1_ws_path',
+            description='Path of the ros1 workspace'),
+        DeclareLaunchArgument(
+            'pub_image_name',
+            description='Path of the ros1 workspace'),
+        DeclareLaunchArgument(
+            'sub_image_name',
+            description='Path of the ros1 workspace'),
+    ]
+
+    nodes = launch_args + [OpaqueFunction(function=launch_setup)]
+    return launch.LaunchDescription(
+        nodes + [
+            # Start tests after a fixed delay for node startup
+            launch.actions.TimerAction(
+                period=30.0,
+                actions=[launch_testing.actions.ReadyToTest()])
+        ]
+    )

isaac_ros_nitros_bridge_ros2/package.xml

@@ -21,7 +21,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>isaac_ros_nitros_bridge_ros2</name>
-  <version>2.0.0</version>
+  <version>2.1.0</version>
   <description>Converter between NITROS bridge messages and ROS 2 messages</description>
 
   <maintainer email="[email protected]">Yuankun Zhu</maintainer>

utils/isaac_ros_ros1_forward/package.xml

@@ -20,7 +20,7 @@
 
 <package format="2">
   <name>isaac_ros_ros1_forward</name>
-  <version>2.0.0</version>
+  <version>2.1.0</version>
   <description>Forward ROS1 Messages</description>
   <maintainer email="[email protected]">Yuankun Zhu</maintainer>
   <license>Apache-2.0</license>