Namespace Loaded Controllers (ros-controls#852)

* ci: 👷 Add ABI check to ros_indiustrial ci (ros-controls#597)

* ci: 👷 Add ABI check to ros_indiustrial ci

refs: ros-controls#583

* ci: 👷 change notation of ci

* ci: 👷 change branch reference

* ci: 👷 address PR comments

* move abi check to spearate workflow
* check abi against base ref
* PR against galactic branch

* No need to get angles from source anymore, causes issues now (backport ros-controls#616) (ros-controls#617)

* No need to get angles from source anymore, causes issues now (ros-controls#616)

(cherry picked from commit 2275f06)

* fix spelling

* Apply suggestions from code review

Co-authored-by: Bence Magyar <[email protected]>

* first commit

* namespace support for load_controller in controller_manager

* cleaning up, renaming variables and other small fixes

* renaming namespace to manager_namespace to avoid errors

* removing namespaced param

* add gitignore for __pycache__ folders

* remove pycache ignore

* run 'pre-commit run --all' and fix flake8 errors

* switch init declaration (revert)

* remove the need to modify hardware interface

* remove useless function arguments

* removing namespace argument from manager services

* remove namespace from service messages

* namespaced->prefixed + minor changes for readability

* fix forgotten rebase conflicts

* remove galactic related files

* revert controller_manager constructor changes

Co-authored-by: Jaron <[email protected]>
Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com>
Co-authored-by: Bence Magyar <[email protected]>
Co-authored-by: badr.moutalib <[email protected]>
Co-authored-by: Hoang David HA <[email protected]>

controller_manager/controller_manager/spawner.py

@@ -125,6 +125,10 @@ def main(args=None):
         '-p', '--param-file',
         help='Controller param file to be loaded into controller node before configure',
         required=False)
+    parser.add_argument(
+        '-n', '--namespace',
+        help='Namespace for the controller', default='',
+        required=False)
     parser.add_argument(
         '--load-only', help='Only load the controller and leave unconfigured.',
         action='store_true', required=False)
@@ -150,13 +154,18 @@ def main(args=None):
     args = parser.parse_args(command_line_args)
     controller_name = args.controller_name
     controller_manager_name = args.controller_manager
+    controller_namespace = args.namespace
     param_file = args.param_file
     controller_type = args.controller_type
     controller_manager_timeout = args.controller_manager_timeout
 
     if param_file and not os.path.isfile(param_file):
         raise FileNotFoundError(errno.ENOENT, os.strerror(errno.ENOENT), param_file)
 
+    prefixed_controller_name = controller_name
+    if controller_namespace:
+        prefixed_controller_name = controller_namespace + '/' + controller_name
+
     node = Node('spawner_' + controller_name)
     if not controller_manager_name.startswith('/'):
         spawner_namespace = node.get_namespace()
@@ -171,30 +180,27 @@ def main(args=None):
             node.get_logger().error('Controller manager not available')
             return 1
 
-        if is_controller_loaded(node, controller_manager_name, controller_name):
+        if is_controller_loaded(node, controller_manager_name, prefixed_controller_name):
             node.get_logger().info('Controller already loaded, skipping load_controller')
         else:
             if controller_type:
                 ret = subprocess.run(['ros2', 'param', 'set', controller_manager_name,
-                                      controller_name + '.type', controller_type])
-            ret = load_controller(
-                node, controller_manager_name, controller_name)
+                                      prefixed_controller_name + '.type', controller_type])
+            ret = load_controller(node, controller_manager_name, controller_name)
             if not ret.ok:
                 # Error message printed by ros2 control
                 return 1
-            node.get_logger().info(bcolors.OKBLUE + 'Loaded ' + controller_name + bcolors.ENDC)
+            node.get_logger().info(bcolors.OKBLUE + 'Loaded ' + prefixed_controller_name + bcolors.ENDC)
 
         if param_file:
-            ret = subprocess.run(['ros2', 'param', 'load', controller_name,
-                                  param_file])
+            ret = subprocess.run(['ros2', 'param', 'load', prefixed_controller_name, param_file])
             if ret.returncode != 0:
                 # Error message printed by ros2 param
                 return ret.returncode
-            node.get_logger().info('Loaded ' + param_file + ' into ' + controller_name)
+            node.get_logger().info('Loaded ' + param_file + ' into ' + prefixed_controller_name)
 
         if not args.load_only:
-            ret = configure_controller(
-                node, controller_manager_name, controller_name)
+            ret = configure_controller(node, controller_manager_name, controller_name)
             if not ret.ok:
                 node.get_logger().info('Failed to configure controller')
                 return 1
@@ -213,7 +219,7 @@ def main(args=None):
                     return 1
 
                 node.get_logger().info(bcolors.OKGREEN + 'Configured and activated ' +
-                                       bcolors.OKCYAN + controller_name + bcolors.ENDC)
+                                       bcolors.OKCYAN + prefixed_controller_name + bcolors.ENDC)
             elif args.stopped:
                 node.get_logger().warn('"--stopped" flag is deprecated use "--inactive" instead')