Launch packages from HMI display menu Entry "My Program"

projects/hmi_simulation_project_manager/config/auto_launch.bash

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+#!/bin/bash
+
+ros2 launch hmi_simulation_project_manager project_manager.launch.py

projects/hmi_simulation_project_manager/hmi_simulation_project_manager/manager.py

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+from asyncio import FastChildWatcher
+import string
+from tkinter.messagebox import NO
+import rclpy
+from rclpy.node import Node
+from turtlebot4_msgs.srv import MyProgram
+import subprocess
+from ament_index_python.packages import get_package_share_directory, get_package_prefix
+
+
+
+class ProjectsManager(Node):
+    """
+    The class ProjectsManager, attributes as a ROS Node that acts as a primary entrypoint
+        in the ROS system for communication especially for launching multiple packages from HMI display.
+
+    Attributes:
+        Node: Is a class from rclpy.node.Node
+            More Information at: https://docs.ros2.org/latest/api/rclpy/api/node.html
+
+    Topics:
+        - Services:
+                - Service name: /my_program
+                - Service desciption:
+                            - Create a service "my_program" to trigger a bool srv "my_program_on"
+                            - When my_program_on is set to True from client node. The my_program service
+                                returns Success
+
+    """
+    def __init__(self):
+        """
+        ProjectsManager constructor to initialize nodes, subscribers, publishers and parameters
+        """
+        super().__init__('my_program_service')
+        self.my_program_request = self.create_service(MyProgram, 'my_program', self.project_manager_callback)
+        self.response_message = ''
+        self.response_result = False
+
+    def project_manager_callback(self, request, response):
+
+        self.response_message = response.message
+        self.response_result = response.success
+        # If the client requests the service with my_program_on = True, we run a bash script of launch
+        # Then return Success message upon successful request exectution
+        if(request.my_program_on):
+            self.get_logger().info('My Program Mode is turned on')
+            subprocess.call(["bash", '/home/sumedh/workspace/src/TurtleBot4Lessons/projects/hmi_simulation_project_manager/config/auto_launch.bash'])
+            response.message = "My Program Mode received and running projects"
+            response.success = True
+
+        else:
+            self.get_logger().info('My Program Mode rejected')
+            response.message = "My Program Mode rejected and failed to run projects"
+            response.success = False
+
+        return response
+
+
+def main(args=None):
+    """
+    Main method to instantiate ROS nodes and TurtleUnDock class to undock the bot
+
+    Args:
+        None
+    """
+    rclpy.init(args=args)
+
+    projects_manager = ProjectsManager()
+
+    rclpy.spin(projects_manager)
+
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

projects/hmi_simulation_project_manager/launch/project_manager.launch.py

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+import os
+from re import X
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+
+ARGUMENTS = [DeclareLaunchArgument('my_goal_pose', default_value='[8.0, 10.0, 0.0, 0.0, 0.0, 0.0, 0.0]',
+                          description='Goal position in X and Y coordinates')]
+
+
+def generate_launch_description():
+    HOME = os.environ.get('HOME')
+    directory = HOME + '/workspace/src/'
+
+    my_list = os.listdir(directory)
+
+    my_goal_pose = LaunchConfiguration('my_goal_pose'),
+    planner = Node(
+        package='unit02_simulation_motion_planner',
+        namespace='tb4_rider',
+        executable='tb4_rider',
+        name='turtlebot4_ride'
+    )
+    estimator = Node(
+        package='unit02_simulation_motion_planner',
+        namespace='ekf',
+        executable='ekf',
+        name='extented_kalman_filter'
+    )
+    goal_pub = Node(
+        package='unit02_simulation_motion_planner',
+        namespace='publish_goal',
+        executable='tb4_goal',
+        parameters=[
+        {'my_goal_pose': LaunchConfiguration('my_goal_pose')}],
+        name='tb4_goal_pose'
+    )
+    # Define LaunchDescription variable
+    launch_desc = LaunchDescription(ARGUMENTS)
+    launch_desc.add_action(planner)
+    launch_desc.add_action(estimator)
+    launch_desc.add_action(goal_pub)
+
+    return launch_desc

projects/hmi_simulation_project_manager/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>hmi_simulation_project_manager</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">sumedh</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>turtlebot4_msgs</depend>
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

projects/hmi_simulation_project_manager/setup.cfg

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+[develop]
+script_dir=$base/lib/hmi_simulation_project_manager
+[install]
+install_scripts=$base/lib/hmi_simulation_project_manager

projects/hmi_simulation_project_manager/setup.py

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+from setuptools import setup
+import os
+from glob import glob
+
+package_name = 'hmi_simulation_project_manager'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name), glob('launch/*.launch.py')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='sumedh',
+    maintainer_email='[email protected]',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'manager = hmi_simulation_project_manager.manager:main',
+        ],
+    },
+)

projects/hmi_simulation_project_manager/test/test_copyright.py

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+# 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.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

projects/hmi_simulation_project_manager/test/test_flake8.py

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+# Copyright 2017 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.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

projects/hmi_simulation_project_manager/test/test_pep257.py

@@ -0,0 +1,23 @@
+# 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.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

projects/turtlebot4_msgs/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package turtlebot4_msgs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.1.1 (2022-07-12)
+------------------
+
+0.1.0 (2022-05-03)
+------------------
+* First Galactic release
+* Contributors: Roni Kreinin

projects/turtlebot4_msgs/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(turtlebot4_msgs)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/UserLed.msg"
+  "msg/UserButton.msg"
+  "msg/UserDisplay.msg"
+  "srv/MyProgram.srv"
+)
+
+ament_package()

projects/turtlebot4_msgs/msg/UserButton.msg

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+# This message relays the state of the user buttons
+# Each button is represented with a boolean, were True indicates the button is pressed
+
+bool[4] button

projects/turtlebot4_msgs/msg/UserDisplay.msg

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+# This message represents the header and 5 entries 
+# that are displayed on the Turtlebot4 display
+# selected_entry indicates which menu entry is currently selected
+
+string ip
+string battery
+string[5] entries
+int32 selected_entry

projects/turtlebot4_msgs/msg/UserLed.msg

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+# This message sets the state of the user LEDs
+# Blink period is the time in milliseconds during which the ON/OFF cycle occurs
+# The duty cycle represents the percentage of the blink period that the LED is ON
+# A duty cycle of 1.0 would set the LED to always be ON, whereas a duty cycle of 0.0 is always OFF
+# A blink period of 1000ms with a duty cycle of 0.6 will have the LED turn ON for 600ms, 
+# then OFF for 400ms
+
+# Available LEDs
+uint8 USER_LED_1 = 0
+uint8 USER_LED_2 = 1
+
+# Available colors
+uint8 COLOR_OFF = 0
+uint8 COLOR_GREEN = 1
+uint8 COLOR_RED = 2
+uint8 COLOR_YELLOW = 3 
+
+
+# Which available LED to use
+uint8 led
+
+# Which color to set the LED to
+uint8 color
+
+# Blink period in ms
+uint32 blink_period
+
+# Duty cycle (0.0 to 1.0)
+float64 duty_cycle

projects/turtlebot4_msgs/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>turtlebot4_msgs</name>
+  <version>0.1.1</version>
+  <description>Turtlebot4 Messages</description>
+  <maintainer email="[email protected]">rkreinin</maintainer>
+  <license>Apache 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <depend>std_msgs</depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

projects/turtlebot4_msgs/srv/MyProgram.srv

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+bool my_program_on # true enables MyProgram and triggers a True flag
+---
+bool success   # indicate successful application of command
+string message # information for result