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External Process Handler
external_process_handler is a package for clients to run their own tasks into Seirios.
This guide shows you how to integrate your own programs as a plugin into Seirios using
external_process_handlerpackage.Check your Ubuntu + ROS version.
- For Ubuntu 20.04, ROS Noetic users:
Go here to download the .deb package: https://drive.google.com/drive/folders/1hpi5NaSkFyr6QVXs83taxeHjWLulw8SH
Move the .deb into your home folder. Open a terminal window, run the command
sudo apt install ./ros-noetic-movel-seirios-msgs_0.0.0-0focalXXX64.deb to install.- Else:
Git clone this repo here: https://gitlab.com/movelai_public/movel_seirios_msgs/-/tree/master/srv into catkin_ws/src. Then go back to /catkin_ws to run
catkin_make.You need to mount your own packages/nodes as a plugin to task_supervisor for Seirios to run it.
File to modify: ../config/task_supervisor/config/task_supervisor.yamlLook for the plugins section in the config to add your own plugin. You can give any name and type. For type, give a number not used by previous plugins.
plugins:
- {name: detecting, type: 10, class: 'external_process_handler::ExternalProcessHandler'}
Then at the end of the file, create a new section with the same name you give for your plugin e.g. detecting. Then paste in the parameters.
detecting:
watchdog_rate: 2.0
watchdog_timeout: 0
service_req: true
launch_req: false
service_start: "/external_process/trigger_detecting" #required if service_req is true
service_start_msg: "" #optional if there is any particular msg needs to sent or else empty string
service_stop: "/external_process/stop_detecting" #required if service_req is true
service_stop_msg: "" #optional if there is any particular msg needs to sent or else empty string
#launch_package: "yocs_velocity_smoother" #required if launch_req is true
#launch_file: "standalone.launch" #required if launch_req is true
#launch_nodes: "/nodelet_manager /velocity_smoother" #required if launch_req is true
topic_cancel_req: true
topic_process_cancel: "external_process/cancel_publish"
There are different ways to launch your own codes. Choose one in the below subsection that best suits you.
Start & stop
You need to write a ROS service service_start with start_handler as the callback function to start your code.
And you need another ROS service service_stop with stop_handler to stop your code. Names must be service_start and service_stop.
You must use the movel_seirios_msgs package for msg and srv.
(For ROS C++ only) Add movel_seirios_msgs to package.xml and CMakeLists.txt.
Then in task_supervisor.yaml file. Change
service_req: true and service_start and service_stop params to your own topics.Stop with topic (optional)
IF you have your own script to stop the launch.
Write a subscriber topic_process_cancel to subscribe to the UI topic. Inside the handle_publish_cancel callback, include your own codes to stop.
Then change the params
topic_cancel_req: true and topic_process_cancel to your own topic.Getting status (optional)
IF you are launching your program from a launch file. Write a publisher client_status that publishes 2 if the program runs successfully or 3 if it fails.
Then change
client_status: true.Go to Custom Task UI, and choose Seirios Engine as your Execute Engine. Similarly, you need to give a task type number that is not used by other task supervisor plugins.
Then, you will need a custom
service_start_msg and/or service_stop_msg to run or stop your external process.Input a Payload in the JSON format e.g.
{“service_start_msg”: “/eg/payload/start”, “service_stop_msg”:”/eg/payload/stop”} to customize the parameters.Payload has to be parsable in JSON format so remember the “ ”s.
For reference only.
Python
C++
#!/usr/bin/env python
import rospy
from movel_seirios_msgs.srv import StringTrigger, StringTriggerResponse # like setbool
from std_msgs.msg import Bool, UInt8
class Pytest:
def __init__(self):
print('starting test node')
self.node = rospy.init_node('python_test')
self.service_start = rospy.Service('/external_process/trigger_detecting', StringTrigger, self.start_handler)
self.service_stop = rospy.Service('/external_process/stop_detecting', StringTrigger, self.stop_handler)
# IGNORE dummy_publisher - just to simulate UI cancel topic
self.dummy_publisher = rospy.Publisher('/cancel_publish', Bool, queue_size=1)
self.topic_process_cancel = rospy.Subscriber('/cancel_publish', Bool, self.handle_publish_cancel)
self.client_status = rospy.Publisher('/external_process/client_status', UInt8, queue_size=1)
self.flag = True
def start_handler(self, req):
print('inside start handler')
start_msg = StringTriggerResponse()
start_msg.success = True
start_msg.message = 'starting detect'
self.flag = True
self.publish_client_status()
while(self.flag):
print('executing something')
rospy.sleep(1)
return start_msg # return must be [success, message format]
def stop_handler(self, req):
print('inside stop handler')
self.flag = False
print('stop handler called')
stop_msg = StringTriggerResponse()
stop_msg.success = False
stop_msg.message = 'stopping detect'
return stop_msg
# IGNORE if you are not using a topic to stop your code
def handle_publish_cancel(self, req):
print("inside publish cancel", req.data)
cancel_trigger = req.data
if(cancel_trigger):
print('executing cancel stuff') # replace print statement
# IGNORE if you are not using launch files
def publish_client_status(self):
print("publish client status called")
cstatus = UInt8()
#Dummy code
#Decide how do you determine if your launch file is successful
#And replace the if-else statement
if (self.flag == True):
cstatus.data = 2 # if start_handler successfully called, task is successful and return 2
else:
cstatus.data = 3 # else task not successful, return 3
self.client_status.publish(cstatus)
if __name__ == '__main__':
py_test = Pytest()
#py_test.publish_cancel()
rospy.spin()
#include <ros/ros.h>
#include <std_msgs/Bool.h>
#include <std_msgs/UInt8.h>
#include <movel_seirios_msgs/StringTrigger.h>
class Cpptest {
private:
ros::ServiceServer service_start;
ros::ServiceServer service_stop;
ros::Publisher dummy_publisher;
ros::Subscriber topic_process_cancel;
ros::Publisher client_status;
bool flag;
public:
Cpptest(ros::NodeHandle *nh) {
service_start = nh->advertiseService("/external_package/triggering_detect_cpp", &Cpptest::start_handler, this);
service_stop = nh->advertiseService("/external_package/stopping_detect_cpp", &Cpptest::stop_handler, this);
// Ignore dummy_publisher - just to simulate ui cancel button
dummy_publisher = nh->advertise<std_msgs::Bool>("/cancel_publish_cpp", 10);
topic_process_cancel = nh->subscribe("/cancel_publish_cpp", 1, &Cpptest::handle_publish_cancel, this);
client_status = nh->advertise<std_msgs::UInt8>("/external_process/client_status_cpp", 10);
}
bool start_handler(movel_seirios_msgs::StringTrigger::Request &req, movel_seirios_msgs::StringTrigger::Response &res) {
std::cout << "inside start handler\n";
res.success = true;
res.message = "starting detect";
//std::cout << res << "\n";
flag = true;
publish_client_status();
std::cout << "start handler flag "<< flag << "\n";
return true;
}
bool stop_handler(movel_seirios_msgs::StringTrigger::Request &req, movel_seirios_msgs::StringTrigger::Response &res) {
std::cout << "inside stop handler\n";
res.success = false;
res.message = "stopping detect";
//std::cout << res << "\n";
flag = false;
std::cout << "stop handler flag "<< flag << "\n";
return true;
}
// Ignore this method if not subscribing to stop topic
void handle_publish_cancel(const std_msgs::Bool& msg) {
std::cout << "inside handle publish cancel\n";
bool cancel_trigger;
cancel_trigger = msg.data;
//std::cout << "published msg " << cancel_trigger << "\n";
if(cancel_trigger){
std::cout << "do canceling stuff. cancel_trigger: " << cancel_trigger << "\n";
}
}
// Ignore this method if not using launch
void publish_client_status() {
std::cout << "publish client status called\n";
std_msgs::UInt8 cstatus;
if(flag) {
cstatus.data = 2;
}
else {
cstatus.data = 3;
}
std::cout << "client status " << cstatus << "2 for success, 3 for fail \n";
client_status.publish(cstatus);
}
};
int main(int argc, char** argv) {
ros::init(argc, argv, "cpp_test");
ros::NodeHandle nh;
Cpptest cpp_test(&nh);
ros::spin();
return 0;
}
Last modified 30d ago