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@@ -6,16 +6,11 @@ on: | |
| workflow_dispatch: | ||
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| jobs: | ||
| black: | ||
| name: Black | ||
| runs-on: ubuntu-22.04 | ||
| steps: | ||
| - name: Checkout | ||
| uses: actions/checkout@v3 | ||
| - name: Black | ||
| uses: psf/[email protected] | ||
| with: | ||
| options: --line-length=99 | ||
| pre-commit: | ||
| name: Pre-commit | ||
| uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master | ||
| with: | ||
| ros_distro: humble | ||
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| industrial_ci: | ||
| name: Industrial CI | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,98 @@ | ||
| # Copyright 2020 ros2_control Development Team | ||
| # Copyright 2024 Husarion sp. z o.o. | ||
| # | ||
| # 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. | ||
|
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| import os | ||
| import subprocess | ||
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| from launch import LaunchDescription | ||
| from launch.actions import EmitEvent, OpaqueFunction, TimerAction | ||
| from launch.events import Shutdown | ||
| from launch.substitutions import LaunchConfiguration | ||
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| def check_controller_status(context): | ||
| healthcheck = LaunchConfiguration("healthcheck").perform(context) | ||
| if healthcheck.lower() == "false": | ||
| with open("/var/tmp/rosbot_status.txt", "w") as status_file: | ||
| status_file.write("healthy") | ||
| return | ||
| else: | ||
| with open("/var/tmp/rosbot_status.txt", "w") as status_file: | ||
| status_file.write("unhealthy") | ||
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| use_sim = LaunchConfiguration("use_sim", default="False").perform(context) | ||
| nodes_to_check = [ | ||
| "/controller_manager", | ||
| "/ekf_filter_node", | ||
| "/imu_broadcaster", | ||
| "/joint_state_broadcaster", | ||
| "/laser_scan_box_filter", | ||
| "/robot_state_publisher", | ||
| "/rosbot_base_controller", | ||
| "/scan_to_scan_filter_chain", | ||
| ] | ||
| if use_sim.lower() == "true": | ||
| additional_nodes = [ | ||
| "/gz_ros2_control", | ||
| "/ros_gz_bridge", | ||
| ] | ||
| else: | ||
| additional_nodes = [ | ||
| "/imu_sensor_node", | ||
| # "/rosbot_ros2_firmware", not visible via USB port | ||
| "/rosbot_system_node", | ||
| ] | ||
| nodes_to_check.extend(additional_nodes) | ||
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| namespace = LaunchConfiguration("namespace", default="").perform(context) | ||
| ns = "/" + namespace if namespace else "" | ||
| nodes_to_check = [ns + node for node in nodes_to_check] | ||
|
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| def get_missing_nodes(): | ||
| env = os.environ.copy() | ||
| env["ROS_LOCALHOST_ONLY"] = "1" | ||
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| result = subprocess.run( | ||
| ["ros2", "node", "list"], | ||
| stdout=subprocess.PIPE, | ||
| text=True, | ||
| env=env, | ||
| ) | ||
| active_nodes = result.stdout.splitlines() | ||
| return [node for node in nodes_to_check if node not in active_nodes] | ||
|
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| missing_nodes = get_missing_nodes() | ||
| green_color = "\033[92m" | ||
| red_color = "\033[91m" | ||
| reset_color = "\033[0m" | ||
|
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| if missing_nodes: | ||
| print( | ||
| f"{red_color}Error: some nodes are missing: {missing_nodes}. Emitting shutdown...{reset_color}" | ||
| ) | ||
| return [EmitEvent(event=Shutdown())] | ||
| else: | ||
| print(f"{green_color}All systems are up and running!{reset_color}") | ||
| with open("/var/tmp/rosbot_status.txt", "w") as status_file: | ||
| status_file.write("healthy") | ||
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| def generate_launch_description(): | ||
| check_controller = TimerAction( | ||
| period=15.0, | ||
| actions=[OpaqueFunction(function=check_controller_status)], | ||
| ) | ||
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| return LaunchDescription([check_controller]) |
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