Multi app support

robotics_application_manager/manager/launcher/launcher_console.py

@@ -46,7 +46,7 @@ def pause(self):
     def unpause(self):
         pass
 
-    def reset(self, robot_entity=None):
+    def reset(self, robot_entities=[]):
         pass
 
     def is_running(self):

robotics_application_manager/manager/launcher/launcher_gzsim.py

@@ -103,7 +103,7 @@ def unpause(self):
             10000,
         )
 
-    def reset(self, robot_entity=None):
+    def reset(self, robot_entities=[]):
         node = Node()
 
         node.request(
@@ -114,7 +114,7 @@ def reset(self, robot_entity=None):
             10000,
         )
 
-        if robot_entity is not None:
+        for robot_entity in robot_entities:
             node.request(
                 f"/world/default/remove",
                 Entity(name=robot_entity, type=Entity.MODEL),

robotics_application_manager/manager/launcher/launcher_o3de.py

@@ -50,7 +50,7 @@ def unpause(self):
         self.running = True
         pass
 
-    def reset(self, robot_entity=None):
+    def reset(self, robot_entities=[]):
         # TODO: add reset
         pass
 

robotics_application_manager/manager/launcher/launcher_o3de_api.py

@@ -90,3 +90,6 @@ def terminate(self):
                 bufsize=1024,
                 universal_newlines=True,
             )
+
+    def wait_robot_spawn(self, entities):
+        pass

robotics_application_manager/manager/launcher/launcher_robot_ros2_api.py

@@ -13,10 +13,6 @@
 
 import logging
 from robotics_application_manager import LogManager
-from gz.transport13 import Node
-
-from gz.msgs10.empty_pb2 import Empty
-from gz.msgs10.scene_pb2 import Scene
 
 
 class LauncherRobotRos2Api(ILauncher):
@@ -37,31 +33,14 @@ def run(self, entity, robot_pose, extra_config, callback):
             extra_config = ""
 
         if ACCELERATION_ENABLED:
-            exercise_launch_cmd = f"export VGL_DISPLAY={DRI_PATH}; vglrun ros2 launch {self.launch_file} x:={x} y:={y} z:={z} R:={R} P:={P} Y:={Y} {extra_config}"
+            exercise_launch_cmd = f"export VGL_DISPLAY={DRI_PATH}; vglrun ros2 launch {self.launch_file} x:={x} y:={y} z:={z} R:={R} P:={P} Y:={Y} entity:={entity} {extra_config}"
         else:
-            exercise_launch_cmd = f"ros2 launch {self.launch_file} x:={x} y:={y} z:={z} R:={R} P:={P} Y:={Y} {extra_config}"
+            exercise_launch_cmd = f"ros2 launch {self.launch_file} x:={x} y:={y} z:={z} R:={R} P:={P} Y:={Y} entity:={entity} {extra_config}"
 
         exercise_launch_thread = DockerThread(exercise_launch_cmd)
         exercise_launch_thread.start()
         self.threads.append(exercise_launch_thread)
 
-        # Wait until robot entity has spawned
-        node = Node()
-        spawned = False
-        while not spawned:
-            a = node.request(
-                f"/world/default/scene/info",
-                Empty(),
-                Empty,
-                Scene,
-                1000,
-            )
-            if a[0]:
-                for model in a[1].model:
-                    if model.name == entity:
-                        spawned = True
-                        LogManager.logger.info("Robot spawned OK")
-
     def terminate(self):
         LogManager.logger.info(f"Terminating robot launcher")
         for thread in self.threads[:]:

robotics_application_manager/manager/launcher/launcher_ros2_api.py

@@ -48,3 +48,6 @@ def terminate(self):
                 thread.terminate()
                 thread.join()
             self.threads.remove(thread)
+
+    def wait_robot_spawn(self, entities):
+        pass

robotics_application_manager/manager/launcher/launcher_ros2_gz_api.py

@@ -0,0 +1,70 @@
+import os
+import sys
+from typing import List, Any
+import time
+import stat
+
+from .launcher_interface import (
+    ILauncher,
+    LauncherException,
+)
+from robotics_application_manager.manager.docker_thread import DockerThread
+import subprocess
+from robotics_application_manager import LogManager
+from gz.transport13 import Node
+from gz.msgs10.empty_pb2 import Empty
+from gz.msgs10.scene_pb2 import Scene
+import logging
+
+
+class LauncherRos2GzApi(ILauncher):
+    type: str
+    module: str
+    launch_file: str
+    threads: List[Any] = []
+
+    def run(self, callback):
+        DRI_PATH = self.get_dri_path()
+        ACCELERATION_ENABLED = self.check_device(DRI_PATH)
+
+        logging.getLogger("roslaunch").setLevel(logging.CRITICAL)
+
+        xserver_cmd = f"/usr/bin/Xorg -quiet -noreset +extension GLX +extension RANDR +extension RENDER -logfile ./xdummy.log -config ./xorg.conf :0"
+        xserver_thread = DockerThread(xserver_cmd)
+        xserver_thread.start()
+        self.threads.append(xserver_thread)
+
+        if ACCELERATION_ENABLED:
+            exercise_launch_cmd = f"source /.env;export VGL_DISPLAY={DRI_PATH}; vglrun ros2 launch {self.launch_file}"
+        else:
+            exercise_launch_cmd = f"source /.env;ros2 launch {self.launch_file}"
+
+        exercise_launch_thread = DockerThread(exercise_launch_cmd)
+        exercise_launch_thread.start()
+        self.threads.append(exercise_launch_thread)
+
+    def terminate(self):
+        LogManager.logger.info(f"Terminating world launcher")
+        for thread in self.threads[:]:
+            if thread.is_alive():
+                thread.terminate()
+                thread.join()
+            self.threads.remove(thread)
+
+    def wait_robots_spawn(self, entities):
+        # Wait until robots entities has spawned
+        node = Node()
+        missing_entities = entities
+        while len(missing_entities) > 0:
+            resp, output = node.request(
+                f"/world/default/scene/info",
+                Empty(),
+                Empty,
+                Scene,
+                1000,
+            )
+            if resp:
+                for model in output.model:
+                    if model.name in missing_entities:
+                        missing_entities.remove(model.name)
+                        LogManager.logger.info(f"Robot ${model.name} spawned OK")

robotics_application_manager/manager/launcher/launcher_rviz.py

@@ -66,7 +66,7 @@ def pause(self):
     def unpause(self):
         pass
 
-    def reset(self, robot_entity=None):
+    def reset(self, robot_entities=[]):
         pass
 
     def is_running(self):

robotics_application_manager/manager/launcher/launcher_scene.py

@@ -14,7 +14,7 @@
         "2": [
             {
                 "type": "gz",
-                "module": "ros2_api",
+                "module": "ros2_gz_api",
                 "parameters": [],
                 "launch_file": [],
             }
@@ -86,6 +86,10 @@ def process_terminated(name, exit_code):
     def launch_command(self, configuration):
         pass
 
+    def wait_robots_spawn(self, entities):
+        for launcher in self.launchers:
+            launcher.wait_robots_spawn(entities)
+
 
 class LauncherSceneException(Exception):
     def __init__(self, message):

robotics_application_manager/manager/launcher/launcher_state_monitor.py

@@ -40,7 +40,7 @@ def pause(self):
     def unpause(self):
         pass
 
-    def reset(self, robot_entity=None):
+    def reset(self, robot_entities=[]):
         pass
 
     def died(self):

robotics_application_manager/manager/launcher/launcher_tools.py

@@ -121,9 +121,9 @@ def unpause(self):
         for launcher in self.launchers:
             launcher.unpause()
 
-    def reset(self, robot_entity=None):
+    def reset(self, robot_entities=[]):
         for launcher in self.launchers:
-            launcher.reset(robot_entity)
+            launcher.reset(robot_entities)
 
     def pass_msg(self, data):
         for launcher in self.launchers:

robotics_application_manager/manager/launcher/launcher_web_gui.py

@@ -40,7 +40,7 @@ def pause(self):
     def unpause(self):
         pass
 
-    def reset(self, robot_entity=None):
+    def reset(self, robot_entities=[]):
         pass
 
     def died(self):