updated default configuration to ROS2 Foxy, added ros2 launch to app.…

…sh and blocking_app.sh, fix command generation (#6) Signed-off-by: gabrik <gabriele.baldoni@gmail.com>
eclipse-fog05 · Jul 27, 2020 · b70d01d · b70d01d
1 parent 7c51623
commit b70d01d
Show file tree

Hide file tree

Showing 4 changed files with 16 additions and 49 deletions.
diff --git a/.travis.yml b/.travis.yml
@@ -12,13 +12,13 @@ before_install:
   - docker exec build bash -c "cd /root/ && git clone https://github.com/atolab/zenoh-c -b 0.3.0 --depth 1 && cd zenoh-c && make && make install"
   - docker exec build bash -c "cd /root/ && git clone https://github.com/atolab/zenoh-python -b 0.3.0 --depth 1 && cd zenoh-python && python3 setup.py install"
   - docker exec build bash -c "cd /root/ && git clone https://github.com/atolab/yaks-python -b 0.3.0 --depth 1 && cd yaks-python && make install"
-  - docker exec build bash -c "cd /root/ && git clone https://github.com/eclipse-fog05/sdk-python -b master --depth 1 && cd sdk-python && make && make install"
-  - docker exec build bash -c "cd /root/ && git clone https://github.com/eclipse-fog05/api-python -b master --depth 1 && cd api-python && make install"
+  - docker exec build bash -c "cd /root/ && git clone https://github.com/eclipse-fog05/sdk-python -b 0.2.x --depth 1 && cd sdk-python && make && make install"
+  - docker exec build bash -c "cd /root/ && git clone https://github.com/eclipse-fog05/api-python -b 0.2.x --depth 1 && cd api-python && make install"
   # copying repo inside container
   - docker cp ../plugin-fdu-ros2 build:/root/
 script:
-  - docker exec build bash -c "mkdir /root/build && cd /root && cp -r plugin-fdu-ros2 build/fog05-plugin-fdu-ros2-0.2 && cd build/fog05-plugin-fdu-ros2-0.2 && rm -rf .git && make clean && cd .. && tar -czvf fog05-plugin-fdu-ros2-0.2.tar.gz fog05-plugin-fdu-ros2-0.2"
-  - docker exec build bash -c "export DEBEMAIL=\"info@adlink-labs.tech\" && export DEBFULLNAME=\"ATO Labs\" && cd /root/build/fog05-plugin-fdu-ros2-0.2 && dh_make -f ../fog05-plugin-fdu-ros2-0.2.tar.gz -s -y"
-  - docker exec build bash -c 'cd /root/build/fog05-plugin-fdu-ros2-0.2 && printf "override_dh_auto_install:\n\tmkdir -p \$\$(pwd)/debian/fog05-plugin-fdu-native/usr/bin/\n\tmkdir -p \$\$(pwd)/debian/fog05-plugin-fdu-ros2/lib/systemd/system/\n\t\$(MAKE) ros2_PLUGIN_DIR=\$\$(pwd)/debian/fog05-plugin-fdu-ros2/etc/fos/plugins/plugin-fdu-ros2 SYSTEMD_DIR=\$\$(pwd)/debian/fog05-plugin-fdu-ros2/lib/systemd/system/ BIN_DIR=\$\$(pwd)/debian/fog05-plugin-fdu-native/usr/bin install">> debian/rules'
-  - docker exec build bash -c "cd /root/build/fog05-plugin-fdu-ros2-0.2 && debuild --preserve-envvar PATH -us -uc  && ls -l"
-  - docker exec build bash -c "cd /root/build/ && dpkg -I fog05-plugin-fdu-ros2_0.2-1_amd64.deb"
+  - docker exec build bash -c "mkdir /root/build && cd /root && cp -r plugin-fdu-ros2 build/fog05-plugin-fdu-ros2-0.2.1 && cd build/fog05-plugin-fdu-ros2-0.2.1 && rm -rf .git && make clean && cd .. && tar -czvf fog05-plugin-fdu-ros2-0.2.1.tar.gz fog05-plugin-fdu-ros2-0.2.1"
+  - docker exec build bash -c "export DEBEMAIL=\"info@adlink-labs.tech\" && export DEBFULLNAME=\"ATO Labs\" && cd /root/build/fog05-plugin-fdu-ros2-0.2.1 && dh_make -f ../fog05-plugin-fdu-ros2-0.2.1.tar.gz -s -y"
+  - docker exec build bash -c 'cd /root/build/fog05-plugin-fdu-ros2-0.2.1 && printf "override_dh_auto_install:\n\tmkdir -p \$\$(pwd)/debian/fog05-plugin-fdu-native/usr/bin/\n\tmkdir -p \$\$(pwd)/debian/fog05-plugin-fdu-ros2/lib/systemd/system/\n\t\$(MAKE) ros2_PLUGIN_DIR=\$\$(pwd)/debian/fog05-plugin-fdu-ros2/etc/fos/plugins/plugin-fdu-ros2 SYSTEMD_DIR=\$\$(pwd)/debian/fog05-plugin-fdu-ros2/lib/systemd/system/ BIN_DIR=\$\$(pwd)/debian/fog05-plugin-fdu-native/usr/bin install">> debian/rules'
+  - docker exec build bash -c "cd /root/build/fog05-plugin-fdu-ros2-0.2.1 && debuild --preserve-envvar PATH -us -uc  && ls -l"
+  - docker exec build bash -c "cd /root/build/ && dpkg -I fog05-plugin-fdu-ros2_0.2.1-1_amd64.deb"
diff --git a/ros2_plugin b/ros2_plugin
@@ -235,7 +235,7 @@ class ROS2(RuntimePluginFDU):
                     if real_intf_name is None:
                         raise ValueError("phy_face cannot be none")
                     if self.os.get_intf_type(real_intf_name) in ['ethernet']:
-                        self.logger.error('configure_fdu()', 'ROS2 FDU Plugin - Creating macvlan interface')
+                        self.logger.info('configure_fdu()', 'ROS2 FDU Plugin - Creating macvlan interface')
                         mac = intf.get('mac_address', self.__generate_random_mac())
                         intf.update({'mac_address': mac})
 
@@ -248,7 +248,7 @@ class ROS2(RuntimePluginFDU):
                         fdu.virtual_interfaces.append({'internal':intf_info.get('internal'), 'external':None})
 
                     elif self.os.get_intf_type(real_intf_name) in ['wireless']:
-                        self.logger.error('configure_fdu()', 'ROS2 FDU Plugin - Creating moving wireless interface to namespace')
+                        self.logger.info('configure_fdu()', 'ROS2 FDU Plugin - Creating moving wireless interface to namespace')
                         intf_info = self.nm.move_interface_in_namespace(real_intf_name, fdu.namespace)
                         self.nm.rename_virtual_interface_in_namespace(real_intf_name, intf_name, fdu.namespace)
                         intf_info.update({"name":intf_name})
@@ -273,7 +273,7 @@ class ROS2(RuntimePluginFDU):
                         # adding to the list of interfaces
                         fdu.virtual_interfaces.append({'internal':intf_info.get('internal'), 'external':intf_info.get('external')})
                 else:
-                    self.logger.error('configure_fdu()', 'ROS2 FDU Plugin creating interface attached to connection point')
+                    self.logger.info('configure_fdu()', 'ROS2 FDU Plugin creating interface attached to connection point')
                     mac = intf.get('mac_address', self.__generate_random_mac())
                     intf.update({'mac_address': mac})
                     intf_info = self.nm.create_virtual_interface_in_namespace(intf_name, fdu.namespace)
@@ -407,7 +407,7 @@ class ROS2(RuntimePluginFDU):
                 self.os.store_file(app_sh, os.path.join(self.BASE_DIR, self.STORE_DIR, fdu_uuid),'run_{}.sh'.format(instance_uuid) )
                 chmod_cmd = 'chmod +x {}'.format(path)
                 self.os.execute_command(chmod_cmd, blocking=True, external=False)
-                cmd = 'sudo fos_ros_isolate /var/run/netns/{} {} bash -c "{} {} {} {} {}"'.format(fdu.namespace, child_pid_path, path, fdu.app_path,  fdu.name, fdu.cmd, ' '.join(fdu.args))
+                cmd = 'sudo fos_ros_isolate /var/run/netns/{} {} bash -c \"{} {} {} {} {}\"'.format(fdu.namespace, child_pid_path, path, fdu.app_path,  fdu.name, fdu.cmd, ' '.join(fdu.args))
                 outfile = open(fdu.outfile,'w')
                 p = psutil.Popen(cmd, shell=True, stdout=outfile, stderr=outfile,stdin=PIPE, executable='/bin/bash', env=dict(os.environ,**env))
                 fdu.on_start(p.pid)
@@ -449,7 +449,7 @@ class ROS2(RuntimePluginFDU):
                 self.os.store_file(app_sh, os.path.join(self.BASE_DIR, self.STORE_DIR, fdu_uuid),'run_{}.sh'.format(instance_uuid) )
                 chmod_cmd = 'chmod +x {}'.format(path)
                 self.os.execute_command(chmod_cmd, blocking=True, external=False)
-                cmd = 'sudo fos_ros_isolate /var/run/netns/{} {} bash -c "{} {} {} {} {}"'.format(fdu.namespace, child_pid_path, path, fdu.app_path,  fdu.name, fdu.cmd, ' '.join(fdu.args))
+                cmd = 'sudo fos_ros_isolate /var/run/netns/{} {} bash -c \"{} {} {} {} {}\"'.format(fdu.namespace, child_pid_path, path, fdu.app_path,  fdu.name, fdu.cmd, ' '.join(fdu.args))
                 outfile = open(fdu.outfile,'w')
                 p = psutil.Popen(cmd, shell=True, stdout=outfile, stderr=outfile,stdin=PIPE, executable='/bin/bash', env=dict(os.environ,**env))
                 fdu.on_start(p.pid)

diff --git a/templates/app.sh b/templates/app.sh
@@ -48,26 +48,10 @@ echo "--- Entry Point = $ROS_ENTRY_POINT ---"
 echo "--- ROS2 Distribution = $ROSDISTRO ---"
 echo "--- RMW Implementation = $RMW_IMPLEMENTATION ---"
 
-# echo "=== Kill old screens ==="
-# screen -S {{ id }} -X quit
-
-
-# echo "=== Build ROS2 Application  ==="
-# sudo rosdep install -i --from-path . --rosdistro $ROSDISTRO -y
-# colcon build --packages-select $ROS_APP_NAME
-
 
 echo "=== Run ROS2 Application ==="
-#source $CYCLONE
+
 source install/setup.bash
 
 ros2 run $ROS_APP_NAME $ROS_ENTRY_POINT $@
-
-# CMD="ros2 run $ROS_APP_NAME $ROS_ENTRY_POINT $@"
-# screen -S {{ id }} -dm $CMD
-# while [ True ];
-# do
-# 	NOW=$(date '+%F_%H:%M:%S')
-# 	echo "=== Still running at $NOW ==="
-# 	sleep 1
-# done
+ros2 launch $ROS_APP_NAME $ROS_ENTRY_POINT $@
diff --git a/templates/blocking_app.sh b/templates/blocking_app.sh
@@ -31,7 +31,6 @@ trap cleanup 1 2 3 6
 
 cleanup(){
 	echo "=== Kill ROS2 Application ==="
-	# screen -S {{ id }} -X quit
 	echo "=== Bye ==="
 	exit 0
 }
@@ -48,25 +47,9 @@ echo "--- Entry Point = $ROS_ENTRY_POINT ---"
 echo "--- ROS2 Distribution = $ROSDISTRO ---"
 echo "--- RMW Implementation = $RMW_IMPLEMENTATION ---"
 
-# echo "=== Kill old screens ==="
-# screen -S {{ id }} -X quit
-
-
-# echo "=== Build ROS2 Application  ==="
-# sudo rosdep install -i --from-path . --rosdistro $ROSDISTRO -y
-# colcon build --packages-select $ROS_APP_NAME
-
 
 echo "=== Run ROS2 Application ==="
-#source $CYCLONE
+
 source install/setup.bash
 ros2 run $ROS_APP_NAME $ROS_ENTRY_POINT $@
-# CMD="ros2 run $ROS_APP_NAME $ROS_ENTRY_POINT $@"
-# $CMD
-# screen -S {{ id }} -dm $CMD
-# while [ True ];
-# do
-# 	NOW=$(date '+%F_%H:%M:%S')
-# 	echo "=== Still running at $NOW ==="
-# 	sleep 1
-# done
+ros2 launch $ROS_APP_NAME $ROS_ENTRY_POINT $@