latest pushes

ros_web_api_bellande_step/CMakeLists.txt

@@ -49,3 +49,10 @@ elseif($ENV{ROS_VERSION} EQUAL "2")
     install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config)
     install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch)
 endif()
+
+# Install Python scripts for both ROS 1 and ROS 2
+catkin_install_python(
+  PROGRAMS
+  src/bellande_step_api_2d.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)

ros_web_api_bellande_step/README.md

@@ -0,0 +1,10 @@
+# Bellande Web ROS/ROS2 API
+
+# [Bellande Step](https://github.com/RonaldsonBellande/bellande_robots_step)
+
+# ROS1 Launch 
+- python3 bellande_step_api_2d.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
+- roslaunch ros_web_api_bellande_step bellande_step_api_2d.launch x1:=0 y1:=0 x2:=5 y2:=5 limit:=3 
+
+# ROS2 Launch
+- ros2 launch ros_web_api_bellande_step bellande_step_api_2d.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3

ros_web_api_bellande_step/launch/bellande_step_api_2d.launch.py

@@ -0,0 +1,57 @@
+import os
+import sys
+import subprocess
+
+
+def ros1_launch_description():
+    # Get command-line arguments
+    args = sys.argv[1:]
+
+    # Construct the ROS 1 launch command
+    roslaunch_command = ["roslaunch", "ros_web_api_bellande_step", "bellande_step_api_2d.launch"] + args
+
+    # Execute the launch command
+    subprocess.call(roslaunch_command)
+
+
+def ros2_launch_description():
+    # Declare launch arguments
+    x1_arg = DeclareLaunchArgument('x1')
+    y1_arg = DeclareLaunchArgument('y1')
+    x2_arg = DeclareLaunchArgument('x2')
+    y2_arg = DeclareLaunchArgument('y2')
+    limit_arg = DeclareLaunchArgument('limit')
+
+    # Create a list to hold all nodes to be launched
+    nodes_to_launch = []
+
+    # ROS2 specific configurations
+    ros_launch_arguments = [
+        x1_arg, y1_arg, x2_arg, y2_arg, limit_arg,
+    ]
+    nodes_to_launch.append(Node(
+        package='ros_web_api_bellande_step',
+        executable='bellande_step_api_2d.py',
+        name='bellande_step_api_2d_node',
+        output='screen',
+        parameters=[
+            {'x1': LaunchConfiguration('x1')},
+            {'y1': LaunchConfiguration('y1')},
+            {'x2': LaunchConfiguration('x2')},
+            {'y2': LaunchConfiguration('y2')},
+            {'limit': LaunchConfiguration('limit')},
+        ],
+    ))
+
+    # Return the LaunchDescription containing all nodes and arguments
+    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_step/setup.py

@@ -0,0 +1,11 @@
+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_step_api_2d.py'],
+    packages=['ros_web_api_bellande_step'],
+    package_dir={'': 'src'},
+)
+
+setup(**setup_args)

ros_web_api_bellande_step/src/bellande_step_api_2d.py

@@ -4,19 +4,39 @@ import requests
 import sys
 
 def main():
+    # Get the absolute path to the config file
+    config_file_path = os.path.join(os.path.dirname(__file__), '../config/config2d.json')
+
+    # Check if the config file exists
+    if not os.path.exists(config_file_path):
+        print("Config file not found:", config_file_path)
+        return
+
     # Read configuration from config.json
-    with open(os.path.join(sys.path[0], 'config.json'), 'r') as config_file:
+    with open(config_file_path, 'r') as config_file:
         config = json.load(config_file)
         url = config['url']
         endpoint_path = config['endpoint_path']
-
+    
     # Get the parameters from the launch file
-    x1 = float(os.getenv('x1'))
-    y1 = float(os.getenv('y1'))
-    x2 = float(os.getenv('x2'))
-    y2 = float(os.getenv('y2'))
-    limit = int(os.getenv('limit'))
+    x1_str = os.getenv('x1')
+    y1_str = os.getenv('y1')
+    x2_str = os.getenv('x2')
+    y2_str = os.getenv('y2')
+    limit_str = os.getenv('limit')
 
+    # Check if any of the environment variables are not set
+    if any(v is None for v in [x1_str, y1_str, x2_str, y2_str, limit_str]):
+        print("One or more required environment variables are not set.")
+        return
+
+    # Convert the parameters to float or int
+    x1 = float(x1_str)
+    y1 = float(y1_str)
+    x2 = float(x2_str)
+    y2 = float(y2_str)
+    limit = int(limit_str)
+    
     # JSON payload
     payload = {
         "node0": {"x": x1, "y": y1},
@@ -29,6 +49,7 @@ def main():
         'Content-Type': 'application/json'
     }
 
+
     # Make POST request
     try:
         response = requests.post(