latest pushes

ros_web_api_bellande_extremum_optimization/launch/bellande_extremum_optimization.launch.py

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+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():
+    # Get command-line arguments
+    args = sys.argv[1:]
+
+    # Construct the ROS 1 launch commandi
+    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_extremum_optimization/launch/ros1/bellande_extremum_optimization.launch

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+<?xml version="1.0"?>
+<!--
+Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+
+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.
+-->
+<launch>
+  <arg name="x1" />
+  <arg name="y1" />
+  <arg name="x2" />
+  <arg name="y2" />
+  <arg name="limit" />
+
+  <node pkg="ros_web_api_bellande_step" type="bellande_step_api_2d.py"
+    name="bellande_step_api_2d_node" output="screen">
+    <param name="x1" value="$(arg x1)" />
+    <param name="y1" value="$(arg y1)" />
+    <param name="x2" value="$(arg x2)" />
+    <param name="y2" value="$(arg y2)" />
+    <param name="limit" value="$(arg limit)" />
+  </node>
+</launch>

ros_web_api_bellande_extremum_optimization/script/build.sh

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+#!/bin/bash
+
+# Create and navigate to build directory
+mkdir -p build && cd build
+
+# Build package
+if [ $ROS_VERSION -eq 1 ]; then
+    cmake -DROS_VERSION=1 ..
+    make -j$(nproc)
+else
+    cmake -DROS_VERSION=2 ..
+    make -j$(nproc)
+fi
+
+# Source package setup file
+source devel/setup.bash
+
+# Run rosdep
+rosdep install --from-paths ../src --ignore-src -y
+
+# Return to package root directory
+cd ..
+
+# Run ROS launch file
+if [ $ROS_VERSION -eq 1 ]; then
+    roslaunch ros_web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
+else
+    ros2 launch ros_web_api_bellande_step bellande_step_api_2d_launch.launch.py x1:=0 y1:=0 x2:=5 y2:=5 limit:=3
+fi

ros_web_api_bellande_extremum_optimization/setup.py

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+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_extremum_optimization/src/bellande_extremum_optimization.py

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+import json
+import os
+import requests
+
+def main():
+    # Get the absolute path to the config file
+    config_file_path = os.path.join(os.path.dirname(__file__), '../config/configs.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(config_file_path, 'r') as config_file:
+        config = json.load(config_file)
+        url = config['url']
+        endpoint_path = config['endpoint_path']["2d"]
+    
+    # Get the parameters from the ROS parameter server
+    x1 = rospy.get_param('x1', 0)
+    y1 = rospy.get_param('y1', 0)
+    x2 = rospy.get_param('x2', 0)
+    y2 = rospy.get_param('y2', 0)
+    limit = rospy.get_param('limit', 3)
+
+    # JSON payload
+    payload = {
+        "node0": {"x": x1, "y": y1},
+        "node1": {"x": x2, "y": y2}
+    }
+
+    # Headers
+    headers = {
+        'accept': 'application/json',
+        'Content-Type': 'application/json'
+    }
+
+
+    # Make POST request
+    try:
+        response = requests.post(
+            url + endpoint_path + '?limit=' + str(limit),
+            json=payload,
+            headers=headers
+        )
+        response.raise_for_status()  # Raise an error for unsuccessful responses
+        data = response.json()
+        print("Next Step:", data['next_step'])
+    
+    except requests.exceptions.RequestException as e:
+        print("Error:", e)
+
+if __name__ == '__main__':
+    ros_version = os.getenv("ROS_VERSION")
+    if ros_version == "1":
+        import rospy
+    elif ros_version == "2":
+        import rclpy
+
+    main()