Merge pull request #96 from Unity-Technologies/ROS2dev

Ros2 Version 0.6.0

Author: LaurieCheers-unity

.github/workflows/stale.yaml

@@ -0,0 +1,27 @@
+name: 'Stale issue handler'
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 17 * * *' # 17:00 UTC; 10:00 PDT
+
+permissions:
+  issues: write
+
+jobs:
+  stale:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/stale@v4.0.0
+        id: stale
+        with:
+          stale-issue-label: 'stale'
+          stale-issue-message: 'This issue has been marked stale because it has been open for 14 days with no activity. Please remove the stale label or comment on this issue, or the issue will be automatically closed in the next 14 days.'
+          days-before-stale: 14
+          days-before-pr-stale: -1
+          days-before-close: 14
+          days-before-pr-close: -1
+          exempt-issue-labels: 'blocked,must,should,keep,pinned,work-in-progress,request,announcement'
+          close-issue-message: 'This issue has been marked stale for 14 days and will now be closed. If this issue is still valid, please ping a maintainer.'
+      - name: Print outputs
+        run: echo ${{ join(steps.stale.outputs.*, ',') }}
+        

.yamato/yamato-config.yml

@@ -1,7 +1,7 @@
 name: Endpoint Unit Tests
 agent:
     type: Unity::VM
-    image: robotics/ci-ubuntu20:latest
+    image: robotics/ci-ubuntu20:v0.1.0-795910
     flavor: i1.large
 commands:
     # run unit tests and save test results in /home/bokken/build/output/Unity-Technologies/ROS-TCP-Endpoint

CHANGELOG.md

@@ -20,6 +20,44 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/) a
 
 ### Fixed
 
+## [0.6.0] - 2021-09-30
+
+Add the [Close Stale Issues](https://github.com/marketplace/actions/close-stale-issues) action
+
+### Upgrade Notes
+
+### Known Issues
+
+### Added
+
+Support for queue_size and latch for publishers. (https://github.com/Unity-Technologies/ROS-TCP-Endpoint/issues/82)
+
+### Changed
+
+### Deprecated
+
+### Removed
+
+### Fixed
+
+## [0.5.0] - 2021-07-15
+
+### Upgrade Notes
+
+Upgrade the ROS communication to support ROS2 with Unity
+
+### Known Issues
+
+### Added
+
+### Changed
+
+### Deprecated
+
+### Removed
+
+### Fixed
+
 ## [0.4.0] - 2021-05-27
 
 Note: the logs only reflects the changes from version 0.3.0
@@ -38,6 +76,8 @@ Add linter, unit tests, and test coverage reporting
 
 ### Changed
 
+Improving the performance of the read_message in client.py, This is done by receiving the entire message all at once instead of reading 1024 byte chunks and stitching them together as you go.
+
 ### Deprecated
 
 ### Removed

launch/endpoint.py

@@ -1,15 +1,16 @@
 from launch import LaunchDescription
 from launch_ros.actions import Node
 
+
 def generate_launch_description():
     return LaunchDescription([
         Node(
             package='ros_tcp_endpoint',
             executable='default_server_endpoint',
             emulate_tty=True,
             parameters=[
-                {'/ROS_IP': '0.0.0.0'},
-                {'/ROS_TCP_PORT': 10000},
+                {'ROS_IP': '0.0.0.0'},
+                {'ROS_TCP_PORT': 10000},
             ],
         ),
     ])

package.xml

@@ -2,8 +2,10 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ros_tcp_endpoint</name>
-  <version>0.0.1</version>
-  <description>ROS TCP Endpoint Unity Integration (ROS2 version)</description>
+  <version>0.6.0</version>
+  <description>ROS TCP Endpoint Unity Integration (ROS2 version)
+  Acts as the bridge between Unity messages sent via TCP socket and ROS messages.
+  </description>
   <maintainer email="unity-robotics@unity3d.com">Unity Robotics</maintainer>
   <license>Apache 2.0</license>
 

ros_tcp_endpoint/client.py

@@ -35,7 +35,9 @@ def __init__(self, conn, tcp_server, incoming_ip, incoming_port):
         Set class variables
         Args:
             conn:
-            source_destination_dict: dictionary of destination name to RosCommunicator class
+            tcp_server: server object
+            incoming_ip: connected from this IP address
+            incoming_port: connected from this port
         """
         self.conn = conn
         self.tcp_server = tcp_server
@@ -96,16 +98,7 @@ def read_message(self, conn):
         destination = self.read_string()
         full_message_size = ClientThread.read_int32(conn)
 
-        while len(data) < full_message_size:
-            # Only grabs max of 1024 bytes TODO: change to TCPServer's buffer_size
-            grab = 1024 if full_message_size - len(data) > 1024 else full_message_size - len(data)
-            packet = ClientThread.recvall(conn, grab)
-
-            if not packet:
-                self.logerr("No packets...")
-                break
-
-            data += packet
+        data = ClientThread.recvall(conn, full_message_size)
 
         if full_message_size > 0 and not data:
             self.logerr("No data for a message size of {}, breaking!".format(full_message_size))
@@ -150,16 +143,16 @@ def serialize_command(command, params):
         return cmd_info + json_info
 
     def send_ros_service_request(self, srv_id, destination, data):
-        if destination not in self.tcp_server.source_destination_dict.keys():
-            error_msg = "Service destination '{}' is not registered! Known topics are: {} ".format(
-                destination, self.tcp_server.source_destination_dict.keys()
+        if destination not in self.tcp_server.ros_services_table.keys():
+            error_msg = "Service destination '{}' is not registered! Known services are: {} ".format(
+                destination, self.tcp_server.ros_services_table.keys()
             )
             self.tcp_server.send_unity_error(error_msg)
             self.logerr(error_msg)
             # TODO: send a response to Unity anyway?
             return
         else:
-            ros_communicator = self.tcp_server.source_destination_dict[destination]
+            ros_communicator = self.tcp_server.ros_services_table[destination]
             service_thread = threading.Thread(
                 target=self.service_call_thread, args=(srv_id, destination, data, ros_communicator)
             )
@@ -186,8 +179,8 @@ def logerr(self, text):
 
     def run(self):
         """
-        Read a message and determine where to send it based on the source_destination_dict
-         and destination string. Then send the read message.
+        Receive a message from Unity and determine where to send it based on the publishers table
+         and topic string. Then send the read message.
 
         If there is a response after sending the serialized data, assume it is a
         ROS service response.
@@ -206,6 +199,7 @@ def run(self):
             while not halt_event.is_set():
                 destination, data = self.read_message(self.conn)
 
+                # Process this message that was sent from Unity
                 if self.tcp_server.pending_srv_id is not None:
                     # if we've been told that the next message will be a service request/response, process it as such
                     if self.tcp_server.pending_srv_is_request:
@@ -223,12 +217,12 @@ def run(self):
                 elif destination.startswith("__"):
                     # handle a system command, such as registering new topics
                     self.tcp_server.handle_syscommand(destination, data)
-                elif destination in self.tcp_server.source_destination_dict:
-                    ros_communicator = self.tcp_server.source_destination_dict[destination]
-                    response = ros_communicator.send(data)
+                elif destination in self.tcp_server.publishers_table:
+                    ros_communicator = self.tcp_server.publishers_table[destination]
+                    ros_communicator.send(data)
                 else:
-                    error_msg = "Topic '{}' is not registered! Known topics are: {} ".format(
-                        destination, self.tcp_server.source_destination_dict.keys()
+                    error_msg = "Not registered to publish topic '{}'! Valid publish topics are: {} ".format(
+                        destination, self.tcp_server.publishers_table.keys()
                     )
                     self.tcp_server.send_unity_error(error_msg)
                     self.logerr(error_msg)

ros_tcp_endpoint/publisher.py

@@ -24,17 +24,18 @@ class RosPublisher(RosSender):
     """
     Class to publish messages to a ROS topic
     """
+
     # TODO: surface latch functionality
-    def __init__(self, topic, message_class, queue_size=10):
+    def __init__(self, topic, message_class, queue_size=10, latch=False):
         """
 
         Args:
             topic:         Topic name to publish messages to
             message_class: The message class in catkin workspace
             queue_size:    Max number of entries to maintain in an outgoing queue
         """
-        strippedTopic = re.sub('[^A-Za-z0-9_]+', '', topic)
-        node_name = f'{strippedTopic}_RosPublisher'
+        strippedTopic = re.sub("[^A-Za-z0-9_]+", "", topic)
+        node_name = f"{strippedTopic}_RosPublisher"
         RosSender.__init__(self, node_name)
         self.msg = message_class()
         self.pub = self.create_publisher(message_class, topic, queue_size)
@@ -50,8 +51,8 @@ def send(self, data):
         Returns:
             None: Explicitly return None so behaviour can be
         """
-        #message_type = type(self.msg)
-        #message = deserialize_message(data, message_type)
+        # message_type = type(self.msg)
+        # message = deserialize_message(data, message_type)
 
         self.pub.publish(data)