Merge pull request #59 from cwruRobotics/tether-namespace

tether namespace

README.md

@@ -158,6 +158,16 @@ All packages to be installed on the pi compute module live in the `pi` directory
 
 All packages to be installed on the float live in the `float` directory.
 
+## Namespaces
+
+All nodes running on the pi will be in the pi namespace.
+
+All nodes running on the surface will be in the surface namespace.
+
+Any topics or services communicating across will be renamed first into the tether namespace.
+
+![Picture of rqt with namespaces](/doc/images/namespaces.png)
+
 ## Documentation Structure
 
 Documentation will take place at 3 levels:

src/pi/camera_streamer/launch/camera_launch.py

@@ -20,7 +20,7 @@ def generate_launch_description() -> LaunchDescription:
             {"image_size": [640, 480]},
             {"time_per_frame": [1, 30]}
         ],
-        remappings=[("/pi/front_cam/image_raw", "/front_cam/image_raw")],
+        remappings=[("/pi/front_cam/image_raw", "/tether/front_cam/image_raw")],
         emulate_tty=True,
         output='screen'
     )
@@ -37,7 +37,7 @@ def generate_launch_description() -> LaunchDescription:
             {"image_size": [640, 480]},
             {"time_per_frame": [1, 30]}
         ],
-        remappings=[("/pi/bottom_cam/image_raw", "/bottom_cam/image_raw")],
+        remappings=[("/pi/bottom_cam/image_raw", "/tether/bottom_cam/image_raw")],
         emulate_tty=True,
         output='screen'
     )

src/pi/pi_main/launch/pi_launch.py

@@ -10,15 +10,15 @@
 def generate_launch_description() -> LaunchDescription:
     NS = 'pi'
     # Manipulator Controller
-    manip_path: str = get_package_share_directory('manipulators')
-
-    manip_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource([
-            os.path.join(
-                manip_path, 'launch', 'manip_launch.py'
-            )
-        ])
-    )
+    # manip_path: str = get_package_share_directory('manipulators')
+    #
+    # manip_launch = IncludeLaunchDescription(
+    #     PythonLaunchDescriptionSource([
+    #         os.path.join(
+    #             manip_path, 'launch', 'manip_launch.py'
+    #         )
+    #     ])
+    # )
 
     # Camera Streamer
     cam_path: str = get_package_share_directory('camera_streamer')
@@ -57,7 +57,7 @@ def generate_launch_description() -> LaunchDescription:
     namespace_launch = GroupAction(
         actions=[
             PushRosNamespace(NS),
-            manip_launch,
+            # manip_launch,
             pixhawk_launch,
             cam_launch,
             # realsense_launch

src/pi/pixhawk_communication/launch/mavros_launch.py

@@ -19,8 +19,8 @@ def generate_launch_description() -> LaunchDescription:
             {"plugin_allowlist": ["sys_status", "rc_io", "command"]},
             {"fcu_url": "/dev/ttyPixhawk"}
         ],
-        remappings=[('/pi/mavros/rc/override', '/mavros/rc/override'),
-                    ('/pi/mavros/cmd/arming', '/mavros/cmd/arming')]
+        remappings=[('/pi/mavros/rc/override', '/tether/mavros/rc/override'),
+                    ('/pi/mavros/cmd/arming', '/tether/mavros/cmd/arming')]
     )
 
     return LaunchDescription([

src/surface/gui/gui/event_nodes/client.py

@@ -17,7 +17,7 @@ class GUIEventClient(Node):
 
     def __init__(self, srv_type: SrvType, topic: str, signal: pyqtBoundSignal):
         # Name this node with a sanitized version of the topic
-        self.name: str = f'client{re.sub(r"[^a-zA-Z0-9_]", "_", topic)}'
+        self.name: str = f'client_{re.sub(r"[^a-zA-Z0-9_]", "_", topic)}'
         super().__init__(self.name, parameter_overrides=[])
 
         self.srv_type = srv_type

src/surface/gui/gui/event_nodes/publisher.py

@@ -11,7 +11,7 @@ class GUIEventPublisher(Node):
     def __init__(self, msg_type: MsgType, topic: str,
                  qos_profile: QoSProfile = qos_profile_system_default) -> None:
         # Name this node with a sanitized version of the topic
-        name: str = f'publisher{re.sub(r"[^a-zA-Z0-9_]", "_", topic)}'
+        name: str = f'publisher_{re.sub(r"[^a-zA-Z0-9_]", "_", topic)}'
         super().__init__(name, parameter_overrides=[])
 
         self.publisher = self.create_publisher(msg_type, topic, qos_profile)

src/surface/gui/gui/event_nodes/server.py

@@ -19,7 +19,7 @@ def __init__(self, srv_type: SrvType, topic: str,
         Remember to use a signal to update the GUI!
         """
         # Name this node with a sanitized version of the topic
-        name: str = f'server{re.sub(r"[^a-zA-Z0-9_]", "_", topic)}'
+        name: str = f'server_{re.sub(r"[^a-zA-Z0-9_]", "_", topic)}'
         super().__init__(name, parameter_overrides=[])
 
         self.srv: Service = self.create_service(srv_type, topic, callback)

src/surface/gui/gui/event_nodes/subscriber.py

@@ -14,7 +14,7 @@ class GUIEventSubscriber(Node):
     def __init__(self, msg_type: type, topic: str, signal: pyqtBoundSignal,
                  qos_profile: QoSProfile = qos_profile_system_default):
         # Name this node with a sanitized version of the topic
-        name: str = f'subscriber{re.sub(r"[^a-zA-Z0-9_]", "_", topic)}'
+        name: str = f'subscriber_{re.sub(r"[^a-zA-Z0-9_]", "_", topic)}'
         super().__init__(name, parameter_overrides=[])
 
         self.subscription = self.create_subscription(

src/surface/gui/gui/pilot_app.py

@@ -14,13 +14,13 @@ def __init__(self) -> None:
         layout: QHBoxLayout = QHBoxLayout()
         self.setLayout(layout)
 
-        self.video_area = SwitchableVideoWidget(["/front_cam/image_raw",
-                                                 "/bottom_cam/image_raw",
-                                                 "/camera/color/image_raw"],
+        self.video_area = SwitchableVideoWidget(["front_cam/image_raw",
+                                                 "bottom_cam/image_raw",
+                                                 "camera/color/image_raw"],
                                                 ["Front Camera",
                                                  "Bottom Camera",
                                                  "Depth Camera"],
-                                                "/camera_switch")
+                                                "camera_switch")
         layout.addWidget(self.video_area, alignment=Qt.AlignmentFlag.AlignCenter)
 
         self.arm: Arm = Arm()

src/surface/gui/gui/widgets/arm.py

@@ -48,7 +48,7 @@ def __init__(self) -> None:
 
         self.arm_client: GUIEventClient = GUIEventClient(
             CommandBool,
-            "/mavros/cmd/arming",
+            "mavros/cmd/arming",
             self.signal
         )
 

src/surface/gui/gui/widgets/seagrass.py

@@ -41,7 +41,7 @@ def __init__(self) -> None:
         before_layout.addStretch()
 
         # Bottom cam
-        self.bottom_cam = PauseableVideoWidget("/bottom_cam/image_raw", "Bottom Cam",
+        self.bottom_cam = PauseableVideoWidget("bottom_cam/image_raw", "Bottom Cam",
                                                widget_width=640, widget_height=360)
 
         # After layout

src/surface/gui/gui/widgets/task_selector.py

@@ -52,7 +52,7 @@ def __init__(self) -> None:
         # self.scheduler_response_signal.connect(
         #     self.handle_scheduler_response)
         self.task_changed_client: GUIEventClient = GUIEventClient(
-            TaskRequest, '/task_request', self.scheduler_response_signal)
+            TaskRequest, 'task_request', self.scheduler_response_signal)
 
         # Server doesn't spin, so we init in main thread
         # self.update_task_dropdown_signal.connect(self.update_task_dropdown)

src/surface/gui/launch/operator_launch.py

@@ -1,18 +1,28 @@
 from launch.launch_description import LaunchDescription
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
+from launch_ros.actions import Node, PushRosNamespace
+from launch.actions import GroupAction
 
 
 def generate_launch_description() -> LaunchDescription:
     """Asynchronously launches operator's gui node."""
     gui_node: Node = Node(
         package='gui',
         executable='run_operator',
-        namespace='gui',
-        parameters=[
-                {'theme': LaunchConfiguration('theme', default='dark')}],
+        parameters=[{'theme': LaunchConfiguration('theme', default='dark')}],
+        remappings=[("/surface/gui/bottom_cam/image_raw", "/tether/bottom_cam/image_raw"),
+                    ("/surface/gui/task_request", "/surface/task_request"),
+                    ("/surface/gui/task_feedback", "/surface/task_feedback")
+                    ],
         emulate_tty=True,
         output='screen'
     )
 
-    return LaunchDescription([gui_node])
+    namespace_launch = GroupAction(
+        actions=[
+            PushRosNamespace('gui'),
+            gui_node
+        ]
+    )
+
+    return LaunchDescription([namespace_launch])

src/surface/gui/launch/pilot_launch.py

@@ -1,20 +1,28 @@
+from launch.actions import GroupAction
 from launch.launch_description import LaunchDescription
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
+from launch_ros.actions import Node, PushRosNamespace
 
 
 def generate_launch_description() -> LaunchDescription:
     """Asynchronously launches pilot's gui node."""
     gui_node: Node = Node(
         package='gui',
         executable='run_pilot',
-        namespace='gui',
-        parameters=[
-                {'theme': LaunchConfiguration('theme', default='dark')}],
-        remappings=[("/surface/gui/mavros/cmd/arming", "/mavros/cmd/arming"),
-                    ("/surface/gui/camera_switch", "/surface/camera_switch")],
+        parameters=[{'theme': LaunchConfiguration('theme', default='dark')}],
+        remappings=[("/surface/gui/mavros/cmd/arming", "/tether/mavros/cmd/arming"),
+                    ("/surface/gui/camera_switch", "/surface/camera_switch"),
+                    ("/surface/gui/bottom_cam/image_raw", "/tether/bottom_cam/image_raw"),
+                    ("/surface/gui/front_cam/image_raw", "/tether/front_cam/image_raw")],
         emulate_tty=True,
         output='screen'
     )
 
-    return LaunchDescription([gui_node])
+    namespace_launch = GroupAction(
+        actions=[
+            PushRosNamespace('gui'),
+            gui_node
+        ]
+    )
+
+    return LaunchDescription([namespace_launch])

src/surface/surface_main/launch/surface_operator_launch.py

@@ -31,7 +31,7 @@ def generate_launch_description() -> LaunchDescription:
 
     namespace_launch = GroupAction(
         actions=[
-            PushRosNamespace("/surface"),
+            PushRosNamespace("surface"),
             gui_launch,
             task_selector_launch,
         ]

src/surface/surface_main/launch/surface_pilot_launch.py

@@ -31,7 +31,7 @@ def generate_launch_description() -> LaunchDescription:
 
     namespace_launch = GroupAction(
         actions=[
-            PushRosNamespace("/surface"),
+            PushRosNamespace("surface"),
             gui_launch,
             controller_launch,
         ]

src/surface/task_selector/launch/task_scheduler_launch.py

@@ -16,8 +16,9 @@ def generate_launch_description() -> LaunchDescription:
     manual_control_node: Node = Node(
         package='task_selector',
         executable='manual_control_node',
-        remappings=[('/surface/manipulator_control', '/manipulator_control'),
-                    ('/surface/mavros/rc/override', '/mavros/rc/override')],
+        remappings=[('/surface/manipulator_control', '/tether/manipulator_control'),
+                    ('/surface/mavros/rc/override', '/tether/mavros/rc/override'),
+                    ('/tether/mavros/rc/override', '/surface/mavros/rc/override')],
         emulate_tty=True,
         output='screen'
     )

src/surface/task_selector/task_selector/manual_control_node.py

@@ -74,7 +74,7 @@ def __init__(self) -> None:
         )
         self.rc_pub: Publisher = self.create_publisher(
             OverrideRCIn,
-            '/mavros/rc/override',
+            'mavros/rc/override',
             qos_profile_system_default
         )
         self.subscription: Subscription = self.create_subscription(

src/surface/task_selector/task_selector/task_selector.py

@@ -19,10 +19,10 @@ def __init__(self) -> None:
 
         # create service to handle requests for task switching
         self.request_server = self.create_service(
-            TaskRequest, '/task_request', self.request_task_callback)
+            TaskRequest, 'task_request', self.request_task_callback)
 
         self.feedback_server = self.create_publisher(
-            TaskFeedback, '/task_feedback', qos_profile_system_default)
+            TaskFeedback, 'task_feedback', qos_profile_system_default)
 
         # instantiates new action clients with inputs of node,
         # action type, action name