def __init__(self):
####################
# Discovery
####################
(self.service_name, self.service_description, self.service_id) = concert_service_utilities.get_service_info()
try:
known_resources_topic_name = rocon_python_comms.find_topic('scheduler_msgs/KnownResources', timeout=rospy.rostime.Duration(5.0), unique=True)
except rocon_python_comms.NotFoundException as e:
rospy.logerr("AdapterSvc : could not locate the scheduler's known resources topic [%s]" % str(e))
sys.exit(1)
####################
# Setup
####################
self.allocated_resources = []
self.requester = self.setup_requester(self.service_id)
self.lock = threading.Lock()
self.pending_requests = []
self.allocated_requests = {}
self.command=''
# Subscribe a topic from BPEL service
self.bpel_service_subscriber = rospy.Subscriber('resources_alloc_request', adapter_msgs.Adapter, self.resources_alloc_request_callback)
self.bpel_command_subscriber = rospy.Subscriber('command_request', adapter_msgs.Adapter, self.command_request_callback)
self.allocation_timeout = rospy.get_param('allocation_timeout', 15.0) # seconds
def test_concert_info(self):
try:
(name, unused_description,
unused_uuid) = concert_service_utilities.get_service_info()
if name == 'chatter':
self._success = True
except concert_service_utilities.ServiceInfoException:
pass
self.assert_(self._success)
def setup_variables(self):
'''
Need to setup the following variables
service_priority, service_id, resource_type, available_resource_publisher_name, capture_topic_name
'''
(service_name, service_description, service_priority, service_id) = concert_service_utilities.get_service_info()
self.service_priority = service_priority
self.service_id = service_id
self.resource_type = 'rocon_apps/image_stream'
self.available_resource_publisher_name = 'available_image_stream'
self.capture_topic_name = 'capture_image_stream'
def setup_variables(self):
'''
Need to setup the following variables
service_priority, service_id, resource_type, available_resource_publisher_name, capture_topic_name
'''
(service_name, service_description, service_priority,
service_id) = concert_service_utilities.get_service_info()
self.service_priority = service_priority
self.service_id = service_id
self.resource_type = 'rocon_apps/waypoint_nav'
self.available_resource_publisher_name = 'available_waypoint_nav'
self.capture_topic_name = 'capture_waypoint_nav'
# it should be rapp's public interface
self._default_map_topic = 'map'
self._default_waypoints_topic = 'waypoints'
def __init__(self):
####################
# Initiate SOAP Server
####################
self.soap_server = Starter()
self.soap_server.daemon = True
self.soap_server.start()
####################
# Discovery
####################
(self.service_name, self.service_description, self.service_priority,
self.service_id) = concert_service_utilities.get_service_info()
try:
known_resources_topic_name = rocon_python_comms.find_topic(
'scheduler_msgs/KnownResources',
timeout=rospy.rostime.Duration(5.0),
unique=True)
except rocon_python_comms.NotFoundException as e:
rospy.logerr(
"AdapterSvc : could not locate the scheduler's known resources topic [%s]"
% str(e))
sys.exit(1)
####################
# Setup
####################
self.allocated_resources = []
self.requester = self.setup_requester(self.service_id)
self.lock = threading.Lock()
self.pending_requests = []
self.allocated_requests = {}
self.command = ''
# Subscribe a topic from BPEL service
self.bpel_package_subscriber = rospy.Subscriber(
'package_find_request', String, self.package_find_request_callback)
self.bpel_service_subscriber = rospy.Subscriber(
'resources_alloc_request', adapter_msgs.Adapter,
self.resources_alloc_request_callback)
self.bpel_command_subscriber = rospy.Subscriber(
'command_request', adapter_msgs.Adapter,
self.command_request_callback)
self.allocation_timeout = rospy.get_param('allocation_timeout',
15.0) # seconds
def __init__(self):
####################
# Discovery
####################
(self.service_name, self.service_description,
self.service_id) = concert_service_utilities.get_service_info()
try:
known_resources_topic_name = rocon_python_comms.find_topic(
'scheduler_msgs/KnownResources',
timeout=rospy.rostime.Duration(5.0),
unique=True)
except rocon_python_comms.NotFoundException as e:
rospy.logerr(
"TeleopPimp : could not locate the scheduler's known resources topic [%s]"
% str(e))
sys.exit(1)
####################
# Setup
####################
self.concert_clients_subscriber = rospy.Subscriber(
known_resources_topic_name, scheduler_msgs.KnownResources,
self.ros_scheduler_known_resources_callback)
self.available_teleops_publisher = rospy.Publisher(
'available_teleops', rocon_std_msgs.StringArray, latch=True)
self.teleopable_robots = []
self.requester = self.setup_requester(self.service_id)
self.lock = threading.Lock()
self.pending_requests = []
self.allocated_requests = {}
self.allocate_teleop_service_pair_server = rocon_python_comms.ServicePairServer(
'capture_teleop',
self.ros_capture_teleop_callback,
rocon_service_msgs.CaptureTeleopPair,
use_threads=True)
self.allocation_timeout = 5.0 # seconds
#
##############################################################################
# Imports
##############################################################################
import rospy
import concert_service_link_graph
import concert_service_utilities
##############################################################################
# Main
##############################################################################
if __name__ == '__main__':
rospy.init_node('static_link_graph_service', anonymous=True)
# this is a uuid.UUID key
(name, description, priority,
uuid) = concert_service_utilities.get_service_info()
filename = rospy.get_param('~filename')
impl_name, impl = concert_service_link_graph.load_linkgraph_from_file(
filename)
if not name:
name = impl_name
static_link_graph_service = concert_service_link_graph.StaticLinkGraphHandler(
name, description, priority, uuid, impl)
static_link_graph_service.spin()
def __init__(self):
# Initialization
(self.service_name, self.service_description, self.service_priority, self.service_id) = concert_service_utilities.get_service_info()
self.allocation_timeout = rospy.get_param('allocation_timeout', 15.0) # seconds
# Check the scheduler's KnownResources topic
try:
rocon_python_comms.find_topic('scheduler_msgs/KnownResources', timeout=rospy.rostime.Duration(5.0), unique=True)
except rocon_python_comms.NotFoundException as e:
rospy.logerr("Could not locate the scheduler's known_resources topic. [%s]" % str(e))
sys.exit(1)
# Set up the requester
self._set_requester(self.service_id)
self.pending_requests = dict()
# Prepare a basket for storing allocated resources
# Form: {__resource_uri__:{resource:__Resource.msg__, publisher:__Publisher__}, ...}
self.linkgraph_info = dict()
self.publishers = dict()
self.action_clients_map = dict()
self.service_proxies_map = dict()
# Starting a SOAP server as a thread
try:
threading.Thread(target=self._start_soap_server).start()
except:
rospy.loginfo("Error on SOAP Server Thread...")
#!/usr/bin/env python
import rospy
import yaml
import concert_service_roslaunch
import concert_service_utilities
import map_store.srv
import annotations_store.srv
from concert_msgs.srv import *
from concert_msgs.msg import *
if __name__ == '__main__':
rospy.init_node('start_cafe_delivery', anonymous=True)
(name, description, uuid) = concert_service_utilities.get_service_info()
filename = rospy.get_param('~filename')
impl_name, impl = concert_service_roslaunch.load_linkgraph_from_file(
filename)
if not name:
name = impl_name
sgsh = concert_service_roslaunch.StaticLinkGraphHandler(
name, description, uuid, impl)
rospy.rostime.wallsleep(3.0) # human time
#sgsh._request_resources(True)
map_id = rospy.get_param('~map_id', None)
# It is hack to wait until the map database is up.
# The proper way to do is wait until the service obtained the all resources and request to load a map
def __init__(self):
####################
# Discovery
####################
(self.service_name, self.service_description, self.service_priority, self.service_id) = concert_service_utilities.get_service_info()
####################
# Setup
####################
self.requester = self.setup_requester(self.service_id)
self.pending_requests = []
self.allocated_requests = []
turtles = rospy.get_param("turtles", default=[{'x_vel':1.0,'z_vel':0.4,'square_scale':1.0}])
rospy.loginfo("TurtlePond : requesting %s turtles" % len(turtles))
for turtle in turtles:
x_vel = turtle['x_vel']
z_vel = turtle['z_vel']
scale = turtle['square_scale']
self.request_turtle(x_vel, z_vel, scale)
#!/usr/bin/env python
import concert_service_utilities
import rospy
from concert_service_gazebo import GazeboRobotManager
if __name__ == '__main__':
rospy.init_node('gazebo_robot_manager')
(service_name, unused_service_description, unused_service_id,
unused_key) = concert_service_utilities.get_service_info()
robots = rospy.get_param('robots', [])
#robot_types = rospy.get_param('types', [])
world_name = rospy.get_param('world', 'gazebo')
world_namespace = '/services/' + service_name + '/' + str(world_name) + '/'
concert_name = rospy.get_param('/concert/name')
gazebo_manager = GazeboRobotManager(world_namespace, concert_name)
gazebo_manager.loginfo('spawning robots : %s' % str(robots))
gazebo_manager.spawn_robots(robots)
gazebo_manager.spin()
gazebo_manager.loginfo('Bye Bye')
rospy.logerr("Turtle Herder : failed to unlink temporary file [%s]" % str(e))
##############################################################################
# Launch point
##############################################################################
if __name__ == "__main__":
rospy.init_node("turtle_herder")
(
service_name,
unused_service_description,
service_priority,
unused_service_id,
) = concert_service_utilities.get_service_info()
turtles = []
turtle_parameters = rospy.get_param("/services/" + service_name + "/turtles", {})
# should check that turtle_parameters is a dict here
for name, parameters in turtle_parameters.items():
try:
turtles.append(
Turtle(
name,
parameters["rapp_whitelist"],
parameters["concert_whitelist"],
parameters["disable_zeroconf"],
parameters["rosbridge_port"],
parameters["rostful_port"],
)
)
def __init__(self):
####################
# Discovery
####################
(self.service_name, self.service_description, self.service_priority, self.service_id) = concert_service_utilities.get_service_info()
####################
# Setup
####################
self.requester = self.setup_requester(self.service_id)
self.pending_requests = []
self.allocated_requests = []
turtles = rospy.get_param("turtles", default=[{'x_vel':1.0,'z_vel':0.4,'square_scale':1.0}])
rospy.loginfo("TurtlePond : requesting %s turtles" % len(turtles))
for turtle in turtles:
x_vel = turtle['x_vel']
z_vel = turtle['z_vel']
scale = turtle['square_scale']
self.request_turtle(x_vel, z_vel, scale)
def __init__(self):
# Initialization
(self.service_name, self.service_description, self.service_priority, self.service_id) = concert_service_utilities.get_service_info()
self.allocation_timeout = rospy.get_param('allocation_timeout', 15.0) # seconds
# Check the scheduler's KnownResources topic
try:
rocon_python_comms.find_topic('scheduler_msgs/KnownResources', timeout=rospy.rostime.Duration(5.0), unique=True)
except rocon_python_comms.NotFoundException as e:
rospy.logerr("Could not locate the scheduler's known_resources topic. [%s]" % str(e))
sys.exit(1)
self.action_invocation_flag = 0
# Set up the requester
self._set_requester(self.service_id)
self.pending_requests = dict()
self.linkgraph_info = dict()
self.publishers = dict()
self.subscribers = dict()
self.action_clients_map = dict()
self.service_proxies_map = dict()
self.callback_bpel_method_map = dict()
# Prepare a basket for storing allocated resources
# Form: {__resource_uri__:{resource:__Resource.msg__, publisher:__Publisher__}, ...}
self.allocated_resources = dict()
# Starting a SOAP server as a thread
try:
threading.Thread(target=self._start_soap_server).start()
except:
rospy.loginfo("Error on SOAP Server Thread...")
# Set Publisher to invoke rapp
#rospy.loginfo("Publisher to invoke rapp is set...")
#self.rapp_pub = rospy.Publisher('/service_invoke', String, queue_size=DEFAULT_QUEUE_SIZE)
#self.rapp_pub2 = rospy.Publisher("/sphero_backstep_cmd", String, queue_size=10)
# Set Subscriber for Testing
#self.test_sub = rospy.Subscriber("/fault/test", String, self._test)
rospy.loginfo("Register Subscriber: /fault/test")
