Improve bridge command parser (#1)

* Refactor command parser to use vector of char* Signed-off-by: LucasHaug <[email protected]> * Add argc argv splitter to dynamic bridge Signed-off-by: LucasHaug <[email protected]> * Add argc argv splitter to paramter bridge Signed-off-by: LucasHaug <[email protected]> * Update github action Signed-off-by: LucasHaug <[email protected]> * Fix parameter bridge argv split Signed-off-by: LucasHaug <[email protected]> * Remove static argv reading Signed-off-by: LucasHaug <[email protected]> * Add command parser to parameter bridge Signed-off-by: LucasHaug <[email protected]> * Fix compilation errors Signed-off-by: LucasHaug <[email protected]> * Fix compilation errors Signed-off-by: LucasHaug <[email protected]> * Fix parameter bidge command parser Signed-off-by: LucasHaug <[email protected]> * Refactor to add command parser utils file Signed-off-by: LucasHaug <[email protected]> * Add github action issue workaround Signed-off-by: LucasHaug <[email protected]> * Ty to run github action inside container Signed-off-by: LucasHaug <[email protected]> * Fix ROS2 args when no ROS1 args Signed-off-by: LucasHaug <[email protected]> * ⏪ Revert changes on GitHub Action config Signed-off-by: LucasHaug <[email protected]> * Change parameter bridge ROS init order Signed-off-by: LucasHaug <[email protected]> * Rename parser functions Signed-off-by: LucasHaug <[email protected]> * Add get_option_values function Signed-off-by: LucasHaug <[email protected]> * Fix wrong help for the parameter bridge Signed-off-by: LucasHaug <[email protected]> * Fix get_option_values parser function Signed-off-by: LucasHaug <[email protected]> * Refactor bridges to use the get_option_values Signed-off-by: LucasHaug <[email protected]> * Add running scetion to README Signed-off-by: LucasHaug <[email protected]> * Add print pairs to parameter bridge --------- Signed-off-by: LucasHaug <[email protected]> Co-authored-by: LucasHaug <[email protected]>
locusrobotics · Apr 12, 2023 · b868d16 · b868d16
1 parent 3d5328d
commit b868d16
Show file tree

Hide file tree

Showing 7 changed files with 421 additions and 62 deletions.
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -16,4 +16,3 @@ jobs:
           package-name: ros1_bridge
           target-ros1-distro: noetic
           target-ros2-distro: rolling
-
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -221,6 +221,7 @@ add_library(${PROJECT_NAME} SHARED
   "src/builtin_interfaces_factories.cpp"
   "src/convert_builtin_interfaces.cpp"
   "src/bridge.cpp"
+  "src/command_parser_utils.cpp"
   ${generated_files})
 ament_target_dependencies(${PROJECT_NAME}
   ${prefixed_ros1_message_packages}

diff --git a/README.md b/README.md
@@ -46,7 +46,7 @@ To run the following examples you will also need these ROS 1 packages:
 
 ### Prerequisites for the examples in this file
 
-In order to make the examples below portable between versions of ROS, we define two environment variables, `ROS1_INSTALL_PATH` and `ROS2_INSTALL_PATH`. 
+In order to make the examples below portable between versions of ROS, we define two environment variables, `ROS1_INSTALL_PATH` and `ROS2_INSTALL_PATH`.
 These are defined as the paths to the installation location of their respective ROS versions.
 
 If you installed Noetic in the default location, then the definition of `ROS1_INSTALL_PATH` will be `/opt/ros/noetic`.
@@ -125,6 +125,31 @@ colcon build --symlink-install --packages-select ros1_bridge --cmake-force-confi
 
 *Note:* If you are building on a memory constrained system you might want to limit the number of parallel jobs by setting e.g. the environment variable `MAKEFLAGS=-j1`.
 
+## Running the bridge
+
+There are two types of bridges that are available for general use:
+
+* The dynamic bridge which will watch the available ROS 1 and ROS 2 topics.
+  Once a *matching* topic has been detected it starts to bridge the messages on this topic.
+* The parameter bridge which will just bridge specific topics with specific QoS profiles depending on a configuration provided by the user. For more details see the [Example 4](#example-4-bridge-only-selected-topics-and-services) section.
+
+Too see the available command line options for each type of bridge run:
+
+```bash
+ros2 run ros1_bridge [dynamic_bridge|parameter_bridge] --help
+```
+
+To pass arguments to the ROS 1 node of the bridge, use the `--ros1-args` option. For example, to run the dynamic bridge changing the ROS 1 node namespace to `ros1_bridge`:
+
+```bash
+ros2 run ros1_bridge dynamic_bridge --ros1-args __ns:=ros1_bridge
+```
+
+To pass arguments to the ROS 2 node of the bridge, use the `--ros2-args` option. For example, to run the dynamic bridge changing the ROS 2 node namespace to `ros2_bridge`:
+
+```bash
+ros2 run ros1_bridge dynamic_bridge --ros2-args __ns:=ros2_bridge
+```
 
 ## Example 1: run the bridge and the example talker and listener
 

diff --git a/include/ros1_bridge/command_parser_utils.hpp b/include/ros1_bridge/command_parser_utils.hpp
@@ -0,0 +1,51 @@
+// Copyright 2015 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef ROS1_BRIDGE__COMMAND_PARSER_UTILS_HPP_
+#define ROS1_BRIDGE__COMMAND_PARSER_UTILS_HPP_
+
+#include <string>
+#include <vector>
+
+namespace ros1_bridge
+{
+
+bool find_command_option(
+    const std::vector<const char *> & args,
+    const std::string & option);
+
+bool get_option_value(
+    std::vector<const char *> & args,
+    const std::string & option,
+    const char * & value,
+    bool remove = false);
+
+bool get_option_values(
+  std::vector<const char *> & args, const std::string & option,
+  std::vector<const char *> & available_options,
+  std::vector<const char *> & values, bool remove = false);
+
+bool get_option_flag(
+    std::vector<const char *> & args,
+    const std::string & option,
+    bool remove = false);
+
+void split_ros1_ros2_args(
+  const std::vector<const char *> & args,
+  std::vector<const char *> & ros1_args,
+  std::vector<const char *> & ros2_args);
+
+}  // namespace ros1_bridge
+
+#endif  // ROS1_BRIDGE__COMMAND_PARSER_UTILS_HPP_
diff --git a/src/command_parser_utils.cpp b/src/command_parser_utils.cpp
@@ -0,0 +1,128 @@
+// Copyright 2015 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#include "ros1_bridge/command_parser_utils.hpp"
+
+#include <algorithm>
+#include <cstring>
+
+namespace ros1_bridge
+{
+
+bool find_command_option(const std::vector<const char *> & args, const std::string & option)
+{
+  auto it = std::find_if(args.begin(), args.end(), [&option] (const char * const & element) {
+    return strcmp(element, option.c_str()) == 0;
+    });
+
+  return it != args.end();
+}
+
+bool get_option_value(std::vector<const char *> & args, const std::string & option, const char * & value, bool remove)
+{
+  auto it = std::find_if(args.begin(), args.end(), [&option] (const char * const & element) {
+    return strcmp(element, option.c_str()) == 0;
+    });
+
+  if (it != args.end()) {
+    auto value_it = std::next(it);
+
+    if (value_it != args.end()) {
+      value = *value_it;
+
+      if (remove) {
+        args.erase(it);  // Remove option
+        args.erase(it);  // Remove value
+      }
+
+      return true;
+    }
+  }
+
+  return false;
+}
+
+bool get_option_values(
+  std::vector<const char *> & args, const std::string & option,
+  std::vector<const char *> & available_options,
+  std::vector<const char *> & values, bool remove)
+{
+  auto it = std::find_if(args.begin(), args.end(), [&option] (const char * const & element) {
+    return strcmp(element, option.c_str()) == 0;
+    });
+
+  if (it != args.end()) {
+    auto value_it = std::next(it);
+
+    while (value_it != args.end() and
+      std::none_of(available_options.begin(), available_options.end(),
+        [value_it](const char * available_option) {
+          return strcmp(*value_it, available_option) == 0;
+        })) {
+      values.push_back(*value_it);
+
+      if (remove) {
+        args.erase(value_it);
+      } else {
+        ++value_it;
+      }
+    }
+
+    if (remove) {
+      args.erase(it);  // Remove option
+    }
+
+    return true;
+  }
+
+  return false;
+}
+
+bool get_option_flag(std::vector<const char *> & args, const std::string & option, bool remove)
+{
+  auto it = std::find_if(args.begin(), args.end(), [&option] (const char * const & element) {
+    return strcmp(element, option.c_str()) == 0;
+    });
+
+  if (it != args.end()) {
+    if (remove) {
+      args.erase(it);
+    }
+    return true;
+  }
+
+  return false;
+}
+
+void split_ros1_ros2_args(
+  const std::vector<const char *> & args, std::vector<const char *> & ros1_args,
+  std::vector<const char *> & ros2_args)
+{
+  // Start iterating from the second argument, since the first argument is the executable name
+  auto it = std::find_if(args.begin() + 1, args.end(), [] (const char * const & element) {
+    return strcmp(element, "--ros-args") == 0;
+    });
+
+  if (it != args.end()) {
+    ros1_args = std::vector<const char *>(args.begin(), it);
+    ros2_args = std::vector<const char *>(it, args.end());
+  } else {
+    ros1_args = args;
+    ros2_args = {};
+  }
+
+  ros2_args.insert(ros2_args.begin(), args.at(0));
+}
+
+}  // namespace ros1_bridge