latest pushes

ros_web_api_bellande_adaptive_continuious_control_system/CMakeLists.txt

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+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+cmake_minimum_required(VERSION 3.8)
+project(ros_web_api_bellande_adaptive_continuious_control_system)
+
+# Find ROS
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(catkin REQUIRED COMPONENTS
+    roscpp
+    rospy
+  )
+else()
+  find_package(ament_cmake REQUIRED COMPONENTS
+    rclcpp
+    rclpy
+  )
+endif()
+
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_package(
+    INCLUDE_DIRS
+    LIBRARIES ${PROJECT_NAME}
+    CATKIN_DEPENDS
+    roscpp
+    rospy
+  )
+endif()
+
+# Install Python scripts for both ROS 1
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_install_python(
+    PROGRAMS
+    src/bellande_control_system.py
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
+endif()
+
+# Install Python scripts, configuration files, and launch files
+if($ENV{ROS_VERSION} EQUAL "1")
+    install(PROGRAMS src/bellande_control_system.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+    install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)
+    install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
+elseif($ENV{ROS_VERSION} EQUAL "2")
+    install(PROGRAMS src/bellande_control_system.py DESTINATION lib/${PROJECT_NAME})
+    install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config)
+    install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch)
+endif()

ros_web_api_bellande_adaptive_continuious_control_system/README.md

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+# Bellande Search Path Web ROS/ROS2 API Intergration
+
+[Bellande Search Path](https://github.com/RonaldsonBellande/bellande_robots_step)

ros_web_api_bellande_adaptive_continuious_control_system/config/configs.json

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+{
+  "license": [
+    "Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande",
+    "This program is free software: you can redistribute it and/or modify",
+    "it under the terms of the GNU General Public License as published by",
+    "the Free Software Foundation, either version 3 of the License, or",
+    "(at your option) any later version.",
+    "",
+    "This program is distributed in the hope that it will be useful,",
+    "but WITHOUT ANY WARRANTY; without even the implied warranty of",
+    "MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the",
+    "GNU General Public License for more details.",
+    "",
+    "You should have received a copy of the GNU General Public License",
+    "along with this program.  If not, see <https://www.gnu.org/licenses/>.",
+    "GNU General Public License v3.0 or later"
+  ],
+  "url": "https://bellanderoboticssensorsresearchinnovationcenter-kot42qxp.b4a.run",
+  "endpoint_path": {
+    "bellande_control_system_base": "/api/Bellande_Adaptive_Continuious_Control_System/bellande_adaptive_continuious_control_system"
+  }
+}

ros_web_api_bellande_adaptive_continuious_control_system/launch/bellande_control_system.launch.py

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+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+import os
+import sys
+import subprocess
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+
+def ros1_launch_description():
+    args = sys.argv[1:]
+    roslaunch_command = ["roslaunch", "bellande_control_system", "bellande_control_system.launch"] + args
+    subprocess.call(roslaunch_command)
+
+def ros2_launch_description():
+    initial_state_arg = DeclareLaunchArgument('initial_state', default_value='idle')
+    name_arg = DeclareLaunchArgument('name', default_value='BellandeControlSystem')
+    action_parameters_arg = DeclareLaunchArgument('action_parameters', default_value='{}')
+
+    nodes_to_launch = []
+
+    ros_launch_arguments = [
+        initial_state_arg, name_arg, action_parameters_arg,
+    ]
+
+    nodes_to_launch.append(Node(
+        package='bellande_control_system',
+        executable='bellande_control_system.py',
+        name='bellande_control_system_node',
+        output='screen',
+        parameters=[
+            {'initial_state': LaunchConfiguration('initial_state')},
+            {'name': LaunchConfiguration('name')},
+            {'action_parameters': LaunchConfiguration('action_parameters')},
+        ],
+    ))
+
+    return LaunchDescription(ros_launch_arguments + nodes_to_launch)
+
+if __name__ == "__main__":
+    ros_version = os.getenv("ROS_VERSION")
+    if ros_version == "1":
+        ros1_launch_description()
+    elif ros_version == "2":
+        ros2_launch_description()
+    else:
+        print("Unsupported ROS version. Please set the ROS_VERSION environment variable to '1' for ROS 1 or '2' for ROS 2.")
+        sys.exit(1)

ros_web_api_bellande_adaptive_continuious_control_system/launch/ros1/bellande_control_system.launch

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+<?xml version="1.0"?>
+<!-- Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <https://www.gnu.org/licenses/>. 
+-->
+
+<launch>
+  <!-- Arguments -->
+  <arg name="initial_state" default="idle"/>
+  <arg name="name" default="BellandeControlSystem"/>
+  <arg name="action_parameters" default="{}"/>
+
+  <!-- Launch the BellandeControlSystem node -->
+  <node name="bellande_control_system_node" pkg="bellande_control_system" type="bellande_control_system.py" output="screen">
+    <param name="initial_state" value="$(arg initial_state)"/>
+    <param name="name" value="$(arg name)"/>
+    <param name="action_parameters" value="$(arg action_parameters)"/>
+  </node>
+</launch>

ros_web_api_bellande_adaptive_continuious_control_system/package.xml

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+<?xml version="1.0"?>
+<!--
+Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <https://www.gnu.org/licenses/>.
+-->
+
+<package format="3">
+  <name>ros_web_api_bellande_adaptive_continuious_control_system</name>
+  <version>0.0.1</version>
+  <description>Bellande ROS/ROS2 package with a JSON config file for making HTTP requests</description>
+  <author email="ronaldsonbellande@gmail.com">Ronaldson Bellande</author>
+  <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
+  <license>Apache License 2.0</license>
+
+
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 1">roscpp</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">rospy</build_depend>
+
+  <build_export_depend condition="$ROS_VERSION == 1">roscpp</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">rospy</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 1">roscpp</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">rospy</exec_depend>
+
+
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 2">rclcpp</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">rclpy</build_depend>
+
+  <build_export_depend condition="$ROS_VERSION == 2">rclcpp</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">rclpy</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 2">rclcpp</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">rclpy</exec_depend>
+
+
+  <export>
+  </export>
+</package>

ros_web_api_bellande_adaptive_continuious_control_system/setup.py

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+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+    scripts=['src/bellande_control_system.py'],
+    packages=['ros_web_api_bellande_adaptive_continuious_control_system'],
+    package_dir={'': 'src'},
+)
+
+setup(**setup_args)

ros_web_api_bellande_adaptive_continuious_control_system/src/bellande_control_system.py

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+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+import json
+import os
+import requests
+from std_msgs.msg import String
+
+def bellande_control_system(state, action, parameters):
+    payload = {
+        "state": state,
+        "action": action,
+        "parameters": parameters
+    }
+    headers = {
+        "Authorization": f"Bearer {api_access_key}"
+    }
+    response = requests.post(api_url, json=payload, headers=headers)
+    if response.status_code == 200:
+        result = response.json()
+        return result['output'], result.get('next_state')
+    else:
+        print(f"Error: {response.status_code} - {response.text}")
+        return None, None
+
+def control_callback(msg):
+    current_state = rospy.get_param('current_state', 'idle')
+    action = msg.data
+    parameters = json.loads(rospy.get_param('action_parameters', '{}'))
+    
+    output, next_state = bellande_control_system(current_state, action, parameters)
+    if output is not None:
+        output_msg = String()
+        output_msg.data = json.dumps({"output": output, "next_state": next_state})
+        pub.publish(output_msg)
+        if next_state:
+            rospy.set_param('current_state', next_state)
+
+def main():
+    global api_url, api_access_key, pub
+    config_file_path = os.path.join(os.path.dirname(__file__), '../config/configs.json')
+    
+    if not os.path.exists(config_file_path):
+        print("Config file not found:", config_file_path)
+        return
+    
+    with open(config_file_path, 'r') as config_file:
+        config = json.load(config_file)
+        url = config['url']
+        endpoint_path = config['endpoint_path']["bellande_control_system_base"]
+        api_access_key = config["Bellande_Framework_Access_Key"]
+    
+    # Initialize ROS node
+    if ros_version == "1":
+        rospy.init_node('bellande_control_system_node', anonymous=True)
+        pub = rospy.Publisher('bellande_control_system_node_control_output', String, queue_size=10)
+        sub = rospy.Subscriber('bellande_control_system_node_control_action', String, control_callback)
+    elif ros_version == "2":
+        rclpy.init()
+        node = rclpy.create_node('bellande_control_system_node')
+        pub = node.create_publisher(String, 'bellande_control_system_node_control_output', 10)
+        sub = node.create_subscription(String, 'bellande_control_system_node_control_action', control_callback, 10)
+    
+    api_url = f"{url}{endpoint_path}"
+    
+    try:
+        print("BellandeControlSystem node is running. Ctrl+C to exit.")
+        if ros_version == "1":
+            rospy.spin()
+        elif ros_version == "2":
+            rclpy.spin(node)
+    except KeyboardInterrupt:
+        print("Shutting down BellandeControlSystem node.")
+    except Exception as e:
+        print(f"An error occurred: {str(e)}")
+    finally:
+        if ros_version == "2":
+            node.destroy_node()
+            rclpy.shutdown()
+
+if __name__ == '__main__':
+    ros_version = os.getenv("ROS_VERSION")
+    if ros_version == "1":
+        import rospy
+    elif ros_version == "2":
+        import rclpy
+    main()