Adjusted ROS2 code with documentation and license headers.

Signed-off-by: Michał Pełka <[email protected]>

kraken_nav/o3de_kraken_nav/launch/config/navigation_multi_params.yaml

@@ -1,3 +1,11 @@
+#
+# Copyright (c) Contributors to the Open 3D Engine Project.
+# For complete copyright and license terms please see the LICENSE at the root of this distribution.
+#
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+#
+#
+
 bt_navigator:
   ros__parameters:
     use_sim_time: True

kraken_nav/o3de_kraken_nav/launch/config/navigation_params.yaml

@@ -1,3 +1,11 @@
+#
+# Copyright (c) Contributors to the Open 3D Engine Project.
+# For complete copyright and license terms please see the LICENSE at the root of this distribution.
+#
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+#
+#
+
 bt_navigator:
   ros__parameters:
     use_sim_time: True

kraken_nav/o3de_kraken_nav/launch/config/slam_multi_params.yaml

@@ -1,3 +1,11 @@
+#
+# Copyright (c) Contributors to the Open 3D Engine Project.
+# For complete copyright and license terms please see the LICENSE at the root of this distribution.
+#
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+#
+#
+
 slam_toolbox:
   ros__parameters:
     use_sim_time: true

kraken_nav/o3de_kraken_nav/launch/config/slam_params.yaml

@@ -1,3 +1,11 @@
+#
+# Copyright (c) Contributors to the Open 3D Engine Project.
+# For complete copyright and license terms please see the LICENSE at the root of this distribution.
+#
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+#
+#
+
 slam_toolbox:
   ros__parameters:
 

kraken_nav/o3de_kraken_nav/launch/navigation.launch.py

@@ -1,16 +1,10 @@
-# Copyright 2019-2022 Robotec.ai.
 #
-# 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
+# Copyright (c) Contributors to the Open 3D Engine Project.
+# For complete copyright and license terms please see the LICENSE at the root of this distribution.
+#
+# SPDX-License-Identifier: Apache-2.0 OR MIT
 #
-#     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.
 
 import pathlib
 from ament_index_python.packages import get_package_share_directory

kraken_nav/o3de_kraken_nav/launch/navigation_multi.launch.py

@@ -1,16 +1,11 @@
-# Copyright 2019-2022 Robotec.ai.
 #
-# 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
+# Copyright (c) Contributors to the Open 3D Engine Project.
+# For complete copyright and license terms please see the LICENSE at the root of this distribution.
 #
-#     http://www.apache.org/licenses/LICENSE-2.0
+# SPDX-License-Identifier: Apache-2.0 OR MIT
 #
-# 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.
+#
+
 
 import pathlib
 from unicodedata import name

kraken_nav/o3de_kraken_nav/launch/teleop.launch.py

@@ -1,3 +1,11 @@
+#
+# Copyright (c) Contributors to the Open 3D Engine Project.
+# For complete copyright and license terms please see the LICENSE at the root of this distribution.
+#
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+#
+#
+
 from launch import LaunchDescription
 from launch_ros.actions import Node
 from launch.substitutions import LaunchConfiguration

kraken_nav/o3de_kraken_nav/o3de_kraken_nav/__init__.py

@@ -0,0 +1,7 @@
+# Copyright (c) Contributors to the Open 3D Engine Project.
+# For complete copyright and license terms please see the LICENSE at the root of this distribution.
+#
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+#
+#
+

kraken_nav/o3de_kraken_nav/o3de_kraken_nav/joy_to_ackermann.py

@@ -1,18 +1,15 @@
+# coding:utf-8
 #!/usr/bin/env python3
 
-# Copyright 2019-2022 Robotec.ai.
 #
-# 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
+# Copyright (c) Contributors to the Open 3D Engine Project.
+# For complete copyright and license terms please see the LICENSE at the root of this distribution.
 #
-#     http://www.apache.org/licenses/LICENSE-2.0
+# SPDX-License-Identifier: Apache-2.0 OR MIT
 #
-# 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.
+#
+
+
 
 import rclpy
 from rclpy.node import Node
@@ -23,6 +20,9 @@ from ackermann_msgs.msg import AckermannDrive
 
 
 class JoyToAckermann(Node):
+    """
+    ROS2 Node to convert joystick message to Ackermann Drive message. 
+    """
 
     def __init__(self):
         super().__init__('joy_to_ackermann')
@@ -30,6 +30,11 @@ class JoyToAckermann(Node):
         self.subscription = self.create_subscription(Joy, "/joy", self.joy_callback, 10)
 
     def joy_callback(self, msg):
+        """
+        Callback called on new message from the joystick driver.
+        It creates AckermanDrive message and publish it.
+        :param msg: message from the joystick driver
+        """
         drive = AckermannDrive()
         drive.speed = 1.5 * msg.axes[1]
         drive.steering_angle = 1.1 * msg.axes[0]

kraken_nav/o3de_kraken_nav/o3de_kraken_nav/twist_to_ackermann.py

@@ -1,18 +1,15 @@
+# coding:utf-8
 #!/usr/bin/env python3
 
-# Copyright 2019-2022 Robotec.ai.
 #
-# 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
+# Copyright (c) Contributors to the Open 3D Engine Project.
+# For complete copyright and license terms please see the LICENSE at the root of this distribution.
 #
-#     http://www.apache.org/licenses/LICENSE-2.0
+# SPDX-License-Identifier: Apache-2.0 OR MIT
 #
-# 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.
+#
+
+
 
 import math
 from rclpy.node import Node
@@ -23,6 +20,12 @@ from ackermann_msgs.msg import AckermannDrive
 
 
 class TwistToAckermann(Node):
+    """
+    ROS2 node to convert Twist message to Ackermann Drive message.
+    It translates cmd_vel messages from nav2 to Ackermann Drive.
+    It also has timeout that stops robot when no new messages are retrieved.
+    """
+
     def __init__(self):
         super().__init__('twist_to_ackermann')
 

kraken_nav/o3de_kraken_nav/setup.py

@@ -1,3 +1,12 @@
+#
+# Copyright (c) Contributors to the Open 3D Engine Project.
+# For complete copyright and license terms please see the LICENSE at the root of this distribution.
+#
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+#
+#
+
+
 from setuptools import setup
 from glob import glob
 

kraken_nav/o3de_kraken_orchestration/LICENSE

@@ -1,201 +0,0 @@
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kraken_nav/o3de_kraken_orchestration/o3de_kraken_orchestration/__init__.py

@@ -0,0 +1,7 @@
+#
+# Copyright (c) Contributors to the Open 3D Engine Project.
+# For complete copyright and license terms please see the LICENSE at the root of this distribution.
+#
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+#
+#

kraken_nav/o3de_kraken_orchestration/o3de_kraken_orchestration/global_kraken_orchestration.py

@@ -1,3 +1,14 @@
+# coding:utf-8
+#!/usr/bin/env python3
+
+#
+# Copyright (c) Contributors to the Open 3D Engine Project.
+# For complete copyright and license terms please see the LICENSE at the root of this distribution.
+#
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+#
+#
+
 import rclpy
 import time
 from threading import Thread
@@ -24,6 +35,9 @@ class GlobalOrchestration(GlobalOrchestrationSM, KrakenOrchestrationNode):
         self.current_index = 0
 
     def get_next_pose(self):
+        """
+        Retrieve next goal from the Plan
+        """
         if self.current_index >= len(self.poses):
             self.logger.error('Invalid index!')
             return PoseStamped()
@@ -38,12 +52,19 @@ class GlobalOrchestration(GlobalOrchestrationSM, KrakenOrchestrationNode):
         rclpy.shutdown()
 
     def on_enter_waiting(self):
+        """
+        Callback called on entry to waiting state.
+        """
         self.logger.info('Has the simulation started?')
         self.send_state("Wait for connection")
         # Perform a check whether the simulation has started or not.
         self.started()
 
     def on_enter_spawning(self):
+        """
+        Callback called on entry to spawning state.
+        Spawns robot.
+        """
         self.logger.info('Spawning the robot.')
         self.send_state("Spawning the robot")
         if self.spawn_kraken():
@@ -52,6 +73,10 @@ class GlobalOrchestration(GlobalOrchestrationSM, KrakenOrchestrationNode):
             self.logger.info('Robot spawning failed.')
 
     def on_spawned(self):
+        """
+        Callback called on successful spawn.
+        Retrieves spawn position and plan for the Robot.
+        """
         self.logger.info('Robot spawned successfully. Fetching info.')
         pose = self.get_spawn_point_pose()
         self.poses = self.get_plan_poses(pose)
@@ -60,6 +85,9 @@ class GlobalOrchestration(GlobalOrchestrationSM, KrakenOrchestrationNode):
         time.sleep(3)
 
     def on_enter_gathering(self):
+        """
+        Callback called on entry to gathering state.
+        """
         self.logger.info('Is the robot in a gathering position?')
         # Perform a check whether the robot is in a gathering position or not.
         if self.can_gather:
@@ -68,6 +96,9 @@ class GlobalOrchestration(GlobalOrchestrationSM, KrakenOrchestrationNode):
             self.navigate()
 
     def on_enter_finishing(self):
+        """
+        Callback called on entry to finishing apple gathering state.
+        """
         self.logger.info('Has the robot completed its job?')
         # Perform a check whether the robot has finished its job or not.
         if self.current_index >= len(self.poses):
@@ -76,6 +107,10 @@ class GlobalOrchestration(GlobalOrchestrationSM, KrakenOrchestrationNode):
             self.finish()
 
     def on_navigate(self):
+        """
+        Callback called on entry to navigation state.
+        Sends goal position to nav2.
+        """
         self.send_state("Navigating")
         self.logger.info('Navigating the robot to a closest gathering position?')
         self.can_gather = False
@@ -89,6 +124,9 @@ class GlobalOrchestration(GlobalOrchestrationSM, KrakenOrchestrationNode):
         self.can_gather = True
 
     def on_gather(self):
+        """
+        Callback called on entry to gathering state.
+        """
         self.logger.info("Requesting gathering...")
         self.send_state("Gather %.1f " % self.apple_progress)
         trigger_res = self.trigger_apple_gathering()
@@ -107,10 +145,18 @@ class GlobalOrchestration(GlobalOrchestrationSM, KrakenOrchestrationNode):
             time.sleep(2)
 
     def on_finish(self):
+        """
+        Callback called on finish state.
+        Asks to navigate to the last position in the plan.
+        """
         # Same action is performed.
         self.on_navigate()
 
     def on_finished(self):
+        """
+        Callback called on finished state.
+        The orchestration is done.
+        """
         self.send_state("Completed")
         self.logger.info('The robot has completed its job.')
         # The robot has finished its job.

kraken_nav/o3de_kraken_orchestration/o3de_kraken_orchestration/orchestration_node.py

@@ -1,3 +1,14 @@
+# coding:utf-8
+#!/usr/bin/env python3
+
+#
+# Copyright (c) Contributors to the Open 3D Engine Project.
+# For complete copyright and license terms please see the LICENSE at the root of this distribution.
+#
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+#
+#
+
 from rclpy.node import Node
 from gazebo_msgs.srv import SpawnEntity
 from gazebo_msgs.srv import GetModelState
@@ -12,30 +23,53 @@ from std_msgs.msg import Float32
 
 
 class KrakenOrchestrationNode(Node):
+    """
+    Class containing implementation of state machine. 
+    """
+
     def init_spawn_entity_client(self):
+        """"
+        Initialize ROS2 service client to spawn robot
+        """
         self.spawn_entity_client = self.create_client(SpawnEntity, 'spawn_entity')
         while not self.spawn_entity_client.wait_for_service(timeout_sec=1.0):
             self.get_logger().info('Spawn entity service not available waiting again...')
 
     def init_get_spawn_point_info_client(self):
+        """"
+        Initialize ROS2 service to retrieve spawn points from simulation
+        """
         self.get_spawn_point_info_client = self.create_client(GetModelState, 'get_spawn_point_info')
         while not self.get_spawn_point_info_client.wait_for_service(timeout_sec=1.0):
             self.get_logger().info('Get spawn point info service not available waiting again...')
 
     def init_get_plan_client(self):
+        """"
+        Initialize ROS2 service to retrieve gathering plan from simulation
+        """
         self.get_plan_client = self.create_client(GetPlan, 'get_gathering_plan')
         while not self.get_plan_client.wait_for_service(timeout_sec=1.0):
             self.get_logger().info('Get plan service not available waiting again...')
 
     def apple_gathering_done_callback(self, request, response):
+        """"
+        Implementation of the callback called from simulation, called on finished apple gathering.
+        """
         self.get_logger().info("Received done client msg.")
         self.gathering_done = True
         return Empty.Response()
 
     def apple_progress_callback(self, msg):
+        """"
+        Implementation of the callback called from simulation with current gathering progress.
+        """
         self.apple_progress = 100.0 * float(msg.data)
 
     def init_apple_gathering_srvs(self):
+        """"
+        Initialize servers for services that are served by this node. 
+        Blocking wait for service initialization.
+        """
         self.done_apple_gathering_service = self.create_service(Empty, f'{self.kraken_name}/done_apple_gathering',
                                                                 self.apple_gathering_done_callback)
 
@@ -47,6 +81,9 @@ class KrakenOrchestrationNode(Node):
             self.get_logger().info('Apple gathering services not available waiting again...')
 
     def init_apple_subscriptions(self):
+        """"
+        Initialize apple gathering progress topic subsrciptions, listened by this node. 
+        """
         qos = QoSProfile(
             depth=5,
             history=QoSHistoryPolicy.KEEP_LAST,
@@ -58,6 +95,9 @@ class KrakenOrchestrationNode(Node):
                                                                      self.apple_progress_callback, qos)
 
     def init_goal_pose_publisher(self):
+        """"
+        Initialize goal topic subsrciptions, listened by this node. 
+        """
         qos = QoSProfile(
             depth=5,
             history=QoSHistoryPolicy.KEEP_LAST,
@@ -68,6 +108,9 @@ class KrakenOrchestrationNode(Node):
         self.goal_pose_publisher = self.create_publisher(PoseStamped, f'{self.kraken_name}/goal_pose', qos)
 
     def init_status_publisher(self):
+        """"
+        Initialize topic pusblishers, sent by this node. 
+        """
         qos = QoSProfile(
             depth=5,
             history=QoSHistoryPolicy.KEEP_LAST,
@@ -77,6 +120,9 @@ class KrakenOrchestrationNode(Node):
         self.status_publisher = self.create_publisher(String, f'{self.kraken_name}/orchestration_status', qos)
 
     def send_state(self, status_str):
+        """"
+        Publish status message which is presented by simulator's GUI
+        """
         msg = String()
         msg.data = status_str
         self.status_publisher.publish(msg)
@@ -103,11 +149,17 @@ class KrakenOrchestrationNode(Node):
         self.init_apple_subscriptions()
 
     def log_cb(self, msg):
+        """"
+        Implementation of the callback for message sent from nav2, used to find if navigation has succeed.
+        """
         if msg.msg == "Goal succeeded" and self.kraken_name in str(msg.name):
             self.get_logger().info("Navigation point reached.")
             self.goal_pose_reached = True
 
     def spawn_kraken(self):
+        """
+        Spawn robot by calling service
+        """
         req = SpawnEntity.Request()
         req.name = self.kraken_name[:len(self.kraken_name) - 2]
         req.xml = self.spawn_point
@@ -119,6 +171,9 @@ class KrakenOrchestrationNode(Node):
         return res.success
 
     def get_spawn_point_pose(self):
+        """
+        Retrieve spawn points from the Simulation.
+        """
         req = GetModelState.Request()
         req.model_name = self.spawn_point
 
@@ -127,6 +182,9 @@ class KrakenOrchestrationNode(Node):
         return res.pose  # TODO - Add exception handling
 
     def get_plan_poses(self, pose):
+        """
+        Retrieve plan from the Simulation.
+        """
         req = GetPlan.Request()
         req.start.pose = pose
 
@@ -134,14 +192,23 @@ class KrakenOrchestrationNode(Node):
         return res.plan.poses
 
     def trigger_apple_gathering(self):
+        """"
+        Calls service the Simulation to start apple gathering.
+        """
         self.gathering_done = False
         req = Trigger.Request()
         return self.trigger_apple_gathering_client.call(req)
 
     def cancel_apple_gathering(self):
+        """"
+        Calls service the Simulation to abort apple gathering.
+        """
         req = Trigger.Request()
         return self.cancel_apple_gathering_client.call(req)
 
     def navigate_to_pose(self, pose):
+        """"
+        Sets navigation goal to nav2.
+        """
         pose.header = Header(stamp=self.get_clock().now().to_msg(), frame_id='map')
         self.goal_pose_publisher.publish(pose)

kraken_nav/o3de_kraken_orchestration/o3de_kraken_orchestration/state_machine.py

@@ -1,7 +1,22 @@
-from statemachine import StateMachine, State
+# coding:utf-8
+#!/usr/bin/env python3
+
+#
+# Copyright (c) Contributors to the Open 3D Engine Project.
+# For complete copyright and license terms please see the LICENSE at the root of this distribution.
+#
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+#
+#
 
+from statemachine import StateMachine, State
 
 class GlobalOrchestrationSM(StateMachine):
+    """
+    Orchestration state machine implementation -containst list of states and
+    valid transitions.
+    """
+
     #### Members for debug purposes ###
     can_gather = False
     has_finished = True

kraken_nav/o3de_kraken_orchestration/setup.py

@@ -1,3 +1,11 @@
+#
+# Copyright (c) Contributors to the Open 3D Engine Project.
+# For complete copyright and license terms please see the LICENSE at the root of this distribution.
+#
+# SPDX-License-Identifier: Apache-2.0 OR MIT
+#
+#
+
 from setuptools import setup
 
 package_name = 'o3de_kraken_orchestration'