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External Process Handler
external_process_handler is a package for clients to run their own tasks into Seirios.
How to setup your tasks with External Process Handler
This guide shows you how to integrate your own programs as a plugin into Seirios using
external_process_handlerpackage.1. Install movel_seirios_message
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.2. Integration with Seirios
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.
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plugins:
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- {name: detecting, type: 10, class: 'external_process_handler::ExternalProcessHandler'}
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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.
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detecting:
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watchdog_rate: 2.0
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watchdog_timeout: 0
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service_req: true
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launch_req: false
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service_start: "/external_process/trigger_detecting" #required if service_req is true
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service_start_msg: "" #optional if there is any particular msg needs to sent or else empty string
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service_stop: "/external_process/stop_detecting" #required if service_req is true
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service_start_msg: "" #optional if there is any particular msg needs to sent or else empty string
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#launch_package: "yocs_velocity_smoother" #required if launch_req is true
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#launch_file: "standalone.launch" #required if launch_req is true
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#launch_nodes: "/nodelet_manager /velocity_smoother" #required if launch_req is true
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topic_cancel_req: true
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topic_process_cancel: "external_process/cancel_publish"
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3. Launching your nodes with Seirios
There are different ways to launch your own codes. Choose one in the below subsection that best suits you.
3.1. Launch with your own code
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 t
opic_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.3.2. Launch from the UI
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.
Last modified 27d ago