背景
ROS 2中的Launch是一个执行和管理用户定义进程的系统。它负责监视它启动的过程的状态,以及报告和响应这些过程状态的变化。这些变化称为事件,可以通过向launch系统注册事件处理程序来进行处理,也可以为特定事件注册事件处理程序,并且可以用于监视进程的状态。此外,它们还可以用来定义一组复杂的规则,这些规则可用于动态修改launch文件。
使用事件处理程序
1 事件处理程序launch文件示例
在launch_tutorial包的启动文件夹中创建一个名为example_event_handlers.launch.py的新文件。
from launch_ros.actions import Node
from launch import LaunchDescription
from launch.actions import (DeclareLaunchArgument, EmitEvent, ExecuteProcess,
LogInfo, RegisterEventHandler, TimerAction)
from launch.conditions import IfCondition
from launch.event_handlers import (OnExecutionComplete, OnProcessExit,
OnProcessIO, OnProcessStart, OnShutdown)
from launch.events import Shutdown
from launch.substitutions import (EnvironmentVariable, FindExecutable,
LaunchConfiguration, LocalSubstitution,
PythonExpression)
def generate_launch_description():
turtlesim_ns = LaunchConfiguration('turtlesim_ns')
use_provided_red = LaunchConfiguration('use_provided_red')
new_background_r = LaunchConfiguration('new_background_r')
turtlesim_ns_launch_arg = DeclareLaunchArgument(
'turtlesim_ns',
default_value='turtlesim1'
)
use_provided_red_launch_arg = DeclareLaunchArgument(
'use_provided_red',
default_value='False'
)
new_background_r_launch_arg = DeclareLaunchArgument(
'new_background_r',
default_value='200'
)
turtlesim_node = Node(
package='turtlesim',
namespace=turtlesim_ns,
executable='turtlesim_node',
name='sim'
)
spawn_turtle = ExecuteProcess(
cmd=[[
FindExecutable(name='ros2'),
' service call ',
turtlesim_ns,
'/spawn ',
'turtlesim/srv/Spawn ',
'"{x: 2, y: 2, theta: 0.2}"'
]],
shell=True
)
change_background_r = ExecuteProcess(
cmd=[[
FindExecutable(name='ros2'),
' param set ',
turtlesim_ns,
'/sim background_r ',
'120'
]],
shell=True
)
change_background_r_conditioned = ExecuteProcess(
condition=IfCondition(
PythonExpression([
new_background_r,
' == 200',
' and ',
use_provided_red
])
),
cmd=[[
FindExecutable(name='ros2'),
' param set ',
turtlesim_ns,
'/sim background_r ',
new_background_r
]],
shell=True
)
return LaunchDescription([
turtlesim_ns_launch_arg,
use_provided_red_launch_arg,
new_background_r_launch_arg,
turtlesim_node,
RegisterEventHandler(
OnProcessStart(
target_action=turtlesim_node,
on_start=[
LogInfo(msg='Turtlesim started, spawning turtle'),
spawn_turtle
]
)
),
RegisterEventHandler(
OnProcessIO(
target_action=spawn_turtle,
on_stdout=lambda event: LogInfo(
msg='Spawn request says "{}"'.format(
event.text.decode().strip())
)
)
),
RegisterEventHandler(
OnExecutionComplete(
target_action=spawn_turtle,
on_completion=[
LogInfo(msg='Spawn finished'),
change_background_r,
TimerAction(
period=2.0,
actions=[change_background_r_conditioned],
)
]
)
),
RegisterEventHandler(
OnProcessExit(
target_action=turtlesim_node,
on_exit=[
LogInfo(msg=(EnvironmentVariable(name='USER'),
' closed the turtlesim window')),
EmitEvent(event=Shutdown(
reason='Window closed'))
]
)
),
RegisterEventHandler(
OnShutdown(
on_shutdown=[LogInfo(
msg=['Launch was asked to shutdown: ',
LocalSubstitution('event.reason')]
)]
)
),
])
在launch文件中定义了OnProcessStart, OnProcessIO, OnExecutionComplete, onprocesssexit和OnShutdown事件的RegisterEventHandler动作。
OnProcessStart事件处理程序用于注册一个回调函数,该函数将在turtlesim节点启动时执行。它将一条消息记录到控制台,并在turtlesim节点启动时执行spawn_turtle动作。
RegisterEventHandler(
OnProcessStart(
target_action=turtlesim_node,
on_start=[
LogInfo(msg='Turtlesim started, spawning turtle'),
spawn_turtle
]
)
),
OnProcessIO事件处理程序用于注册一个回调函数,该回调函数在spawn_turtle动作写入其标准输出时执行。它记录生成请求的结果。
RegisterEventHandler(
OnProcessIO(
target_action=spawn_turtle,
on_stdout=lambda event: LogInfo(
msg='Spawn request says "{}"'.format(
event.text.decode().strip())
)
)
),
OnExecutionComplete事件处理程序用于注册一个回调函数,该函数在spawn_turtle动作完成时执行。它将一条消息记录到控制台,并在spawn操作完成时执行change_background_r和change_background_r_conditioned操作。
RegisterEventHandler(
OnExecutionComplete(
target_action=spawn_turtle,
on_completion=[
LogInfo(msg='Spawn finished'),
change_background_r,
TimerAction(
period=2.0,
actions=[change_background_r_conditioned],
)
]
)
),
OnProcessExit事件处理程序用于注册一个回调函数,该函数在turtlesim节点退出时执行。它将一条消息记录到控制台,并执行EmitEvent操作,以便在turtlesim节点退出时发出一个Shutdown事件。这意味着当turturlesim窗口关闭时,launch将关闭。
RegisterEventHandler(
OnProcessExit(
target_action=turtlesim_node,
on_exit=[
LogInfo(msg=(EnvironmentVariable(name='USER'),
' closed the turtlesim window')),
EmitEvent(event=Shutdown(
reason='Window closed'))
]
)
),
最后,OnShutdown事件处理程序用于注册一个回调函数,该函数在launch文件被要求关闭时执行。它向控制台记录一条消息,说明为什么要求关闭launch文件。它记录消息的关闭原因,如关闭乌龟窗口或用户发出的ctrl-c信号。
RegisterEventHandler(
OnShutdown(
on_shutdown=[LogInfo(
msg=['Launch was asked to shutdown: ',
LocalSubstitution('event.reason')]
)]
)
),
编译包
转到工作区的根目录,编译包:
colcon build
注意在编译之后对工作空间进行source。
launch示例
现在可以使用ros2 launch命令启动example_event_handlers.launch.py文件。
ros2 launch launch_tutorial example_event_handlers.launch.py turtlesim_ns:='turtlesim3' use_provided_red:='True' new_background_r:=200
这将进行以下操作:
1. 启动一个具有蓝色背景的turtlesim节点
2.产生第二只乌龟
3.将窗口背景颜色改为紫色
4.如果提供的background_r参数为200并且use_provided_red参数为True,则在两秒后将颜色更改为粉红色
5.当turtlesim窗口关闭时,关闭启动文件
此外,它将在以下情况下将消息记录到控制台:
1.启动turturlesim节点
2.执行spawn动作
3.执行change_background_r动作
4.执行change_background_r_conditioned动作
5.turtle节点退出
6.launch进程关闭。
参考文献:https://github.com/ros2/launch/blob/humble/launch/doc/source/architecture.rst