Service_call_qos (#161)

Author: Nikhil-Singhal-06

examples/example_external_method/example_external_method/external_methods/factorial.py

@@ -14,7 +14,7 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-def factorial(n: int):
+def factorial(n: int):  # pylint: disable=invalid-name
     fact = 1
     for i in range(1, n+1):
         fact = fact * i

libs/scenario_execution_nav2/scenario_execution_nav2/actions/nav_through_poses.py

@@ -32,7 +32,7 @@ def __init__(self, associated_actor, goal_poses: list, action_topic: str, namesp
         self.goal_poses = None
         super().__init__(self.namespace + '/' + action_topic, "nav2_msgs.action.NavigateThroughPoses", "")
 
-    def execute(self, associated_actor, goal_poses: list, action_topic: str, namespace_override: str) -> None:  # pylint: disable=arguments-differ
+    def execute(self, associated_actor, goal_poses: list, action_topic: str, namespace_override: str) -> None:  # pylint: disable=arguments-differ,arguments-renamed
         self.namespace = associated_actor["namespace"]
         if namespace_override:
             self.namespace = namespace_override

libs/scenario_execution_nav2/scenario_execution_nav2/actions/nav_to_pose.py

@@ -33,7 +33,7 @@ def __init__(self, associated_actor, goal_pose: list, action_topic: str, namespa
         self.goal_pose = None
         super().__init__(self.namespace + '/' + action_topic, "nav2_msgs.action.NavigateToPose", "")
 
-    def execute(self, associated_actor, goal_pose: list, action_topic: str, namespace_override: str) -> None:  # pylint: disable=arguments-differ
+    def execute(self, associated_actor, goal_pose: list, action_topic: str, namespace_override: str) -> None:  # pylint: disable=arguments-differ,arguments-renamed
         self.namespace = associated_actor["namespace"]
         if namespace_override:
             self.namespace = namespace_override

scenario_execution/scenario_execution/actions/base_action.py

@@ -53,7 +53,7 @@ def initialise(self):
             if self._model.actor:
                 final_args["associated_actor"] = self._model.actor.get_resolved_value(self.get_blackboard_client())
                 final_args["associated_actor"]["name"] = self._model.actor.name
-            self.execute(**final_args)
+            self.execute(**final_args)  # pylint: disable=no-member
 
     def _set_base_properities(self, name, model, logger):
         self.name = name

scenario_execution_ros/scenario_execution_ros/actions/ros_action_call.py

@@ -20,6 +20,7 @@
 from rclpy.node import Node
 from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.action import ActionClient
+from rclpy.qos import QoSProfile, DurabilityPolicy
 from rosidl_runtime_py.set_message import set_message_fields
 import py_trees  # pylint: disable=import-error
 from action_msgs.msg import GoalStatus
@@ -42,7 +43,7 @@ class RosActionCall(BaseAction):
     ros service call behavior
     """
 
-    def __init__(self, action_name: str, action_type: str, data: str):
+    def __init__(self, action_name: str, action_type: str, data: str, transient_local: bool = False):
         super().__init__()
         self.node = None
         self.client = None
@@ -56,6 +57,7 @@ def __init__(self, action_name: str, action_type: str, data: str):
         self.parse_data(data)
         self.current_state = ActionCallActionState.IDLE
         self.cb_group = ReentrantCallbackGroup()
+        self.transient_local = transient_local
 
     def setup(self, **kwargs):
         """
@@ -77,10 +79,19 @@ def setup(self, **kwargs):
         except ValueError as e:
             raise ValueError(f"Invalid action_type '{self.action_type}':") from e
 
-        self.client = ActionClient(self.node, self.action_type, self.action_name, callback_group=self.cb_group)
+        client_kwargs = {
+            "callback_group": self.cb_group,
+        }
 
-    def execute(self, action_name: str, action_type: str, data: str):
-        if self.action_name != action_name or self.action_type_string != action_type:
+        if self.transient_local:
+            qos_profile = QoSProfile(depth=1)
+            qos_profile.durability = DurabilityPolicy.TRANSIENT_LOCAL
+            client_kwargs["result_service_qos_profile"] = qos_profile
+
+        self.client = ActionClient(self.node, self.action_type, self.action_name, **client_kwargs)
+
+    def execute(self, action_name: str, action_type: str, data: str, transient_local: bool = False):
+        if self.action_name != action_name or self.action_type_string != action_type or self.transient_local != transient_local:
             raise ValueError(f"Updating action_name or action_type_string not supported.")
 
         self.parse_data(data)

scenario_execution_ros/scenario_execution_ros/actions/ros_service_call.py

@@ -19,6 +19,7 @@
 from enum import Enum
 from rclpy.node import Node
 from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.qos import QoSProfile, DurabilityPolicy
 from rosidl_runtime_py.set_message import set_message_fields
 import py_trees  # pylint: disable=import-error
 from scenario_execution.actions.base_action import BaseAction
@@ -39,7 +40,7 @@ class RosServiceCall(BaseAction):
     ros service call behavior
     """
 
-    def __init__(self, service_name: str, service_type: str, data: str):
+    def __init__(self, service_name: str, service_type: str, data: str, transient_local: bool = False):
         super().__init__()
         self.node = None
         self.client = None
@@ -55,6 +56,7 @@ def __init__(self, service_name: str, service_type: str, data: str):
             raise ValueError(f"Error while parsing sevice call data:") from e
         self.current_state = ServiceCallActionState.IDLE
         self.cb_group = ReentrantCallbackGroup()
+        self.transient_local = transient_local
 
     def setup(self, **kwargs):
         """
@@ -76,11 +78,23 @@ def setup(self, **kwargs):
         except ValueError as e:
             raise ValueError(f"Invalid service_type '{self.service_type}':") from e
 
+        client_kwargs = {
+            "callback_group": self.cb_group,
+        }
+
+        if self.transient_local:
+            qos_profile = QoSProfile(depth=1)
+            qos_profile.durability = DurabilityPolicy.TRANSIENT_LOCAL
+            client_kwargs["qos_profile"] = qos_profile
+
         self.client = self.node.create_client(
-            self.service_type, self.service_name, callback_group=self.cb_group)
+            self.service_type,
+            self.service_name,
+            **client_kwargs
+        )
 
-    def execute(self,  service_name: str, service_type: str, data: str):
-        if self.service_name != service_name or self.service_type_str != service_type or self.data_str != data:
+    def execute(self,  service_name: str, service_type: str, data: str, transient_local: bool):
+        if self.service_name != service_name or self.service_type_str != service_type or self.data_str != data or self.transient_local != transient_local:
             raise ValueError("service_name, service_type and data arguments are not changeable during runtime.")
         self.current_state = ServiceCallActionState.IDLE
 

scenario_execution_ros/scenario_execution_ros/lib_osc/ros.osc

@@ -32,6 +32,7 @@ action action_call:
     action_name: string                  # name of the action to connect to
     action_type: string                  # class of the message type
     data: string                         # call content
+    transient_local: bool = false
 
 action assert_lifecycle_state:
     # Checks for the state of a lifecycle-managed node.
@@ -115,6 +116,7 @@ action service_call:
     service_name: string                 # name of the service to connect to
     service_type: string                 # class of the message type (e.g. std_srvs.msg.Empty)
     data: string                         # call content
+    transient_local: bool = false
 
 action set_node_parameter:
     # Set a parameter of a node.

test/scenario_execution_ros_test/scenario_execution_ros_test/workload_node.py

@@ -58,7 +58,7 @@ def main(args=None):
         rclpy.spin(node)
     except SystemExit:
         pass
-    except BaseException:  # pylint: disable=broad-exception-caught
+    except BaseException:  # pylint: disable=broad-except
         result = False
 
     if result:

test/scenario_execution_test/scenario_execution_test/external_methods/external_methods.py

@@ -14,8 +14,8 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-def test(n: int, text: str):
-    if n == 99:
+def test(n: int, text: str):  # pylint: disable=invalid-name
+    if n == 99:  # pylint: disable=invalid-name
         raise ValueError("External Function Error!")
     return text
 

tools/scenario_status/scenario_status/scenario_status_node.py

@@ -29,7 +29,7 @@
 
 class ScenarioStatus(Node):
 
-    """Simple node subscribing to the py-trees-behaviour tree snapshot. The output is a 
+    """Simple node subscribing to the py-trees-behaviour tree snapshot. The output is a
     string that describes any behavior state changes and timestamps."""
 
     def __init__(self):