Modifying repository folder structure (#6)

.vscode/settings.json → massrobotics_amr_sender_py/.vscode/settings.json

@@ -5,5 +5,6 @@
     ],
     "python.testing.unittestEnabled": false,
     "python.testing.nosetestsEnabled": false,
-    "python.testing.pytestEnabled": true
+    "python.testing.pytestEnabled": true,
+    "restructuredtext.confPath": ""
 }

massrobotics_amr_sender_py/CHANGELOG.rst

@@ -0,0 +1,24 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package massrobotics_amr_sender
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.0.2 (2021-06-24)
+-------------------
+* Changed package name to ``massrobotics_amr_sender``
+* Changed repository folder organization
+
+0.0.1 (2021-06-23)
+-------------------
+* Added support for Identity and Status reports
+* Added support for several ROS2 messages
+
+  * ``geometry_msgs/TwistStamped``
+  * ``sensor_msgs/BatteryState``
+  * ``geometry_msgs/PoseStamped``
+  * ``nav_msgs/Path``
+  * ``std_msgs/String``
+  * ``std_msgs/Float32``
+  * ``std_msgs/Float64``
+
+* Added unit tests for all message callbacks
+* Added ``3-Clause BSD License``

README.md → massrobotics_amr_sender_py/README.md

@@ -1,15 +1,16 @@
-# ros2-to-mass-amr-interop
+# massrobotics_amr_sender
 
-Configuration-based ROS2 package for sending MassRobotics [AMR Standard messages](https://github.com/MassRobotics-AMR/AMR_Interop_Standard) to complaint receivers.
+Configuration-based ROS2 package for sending MassRobotics [AMR Interop Standard messages](https://github.com/MassRobotics-AMR/AMR_Interop_Standard) to complaint receivers.
 
-## Installing
+## Running from source
 
 Make sure `ros2` is installed properly. Clone this repository inside your `src` folder on your local workspace and build the package:
 
 ```bash
 mkdir -p ~/ros2_ws/src && cd ros2_ws/
-git clone https://github.com/inorbit-ai/ros2-to-mass-amr-interop.git ./src
-colcon build --packages-select ros2-to-mass-amr-interop
+git clone https://github.com/inorbit-ai/ros_amr_interop.git ./src
+
+colcon build --packages-select massrobotics_amr_sender
 ```
 
 ## Running the node
@@ -20,7 +21,7 @@ The node takes the Mass AMR config file path as parameter. If not provided, it i
 # Source the local overlay by running `. install/setup.sh` if
 # using bash or `. install/setup.zsh` if using zsh.
 # Also, install dependencies by running `rosdep install --ignore-src --from-paths src/`
-ros2 run ros2_to_mass_amr_interop ros2_to_mass_node \
+ros2 run massrobotics_amr_sender massrobotics_amr_node \
     --ros-args -p config_file:=/path/to/config.yaml --log-level debug
 ```
 
@@ -29,6 +30,6 @@ ros2 run ros2_to_mass_amr_interop ros2_to_mass_node \
 On you local workspace:
 
 ```bash
-colcon test --packages-select ros2-to-mass-amr-interop
+colcon test --packages-select massrobotics_amr_sender
 colcon test-result --verbose
 ```

ros2_to_mass_amr_interop/__init__.py → massrobotics_amr_sender_py/massrobotics_amr_sender/__init__.py

@@ -47,7 +47,7 @@
 from .config import CFG_PARAMETER_ENVVAR
 from .config import CFG_PARAMETER_ROS_TOPIC
 from .config import CFG_PARAMETER_ROS_PARAMETER  # noqa: F401
-from .config import MassAMRInteropConfig
+from .config import MassRoboticsAMRInteropConfig
 
 from .config import STATUS_REPORT_INTERVAL
 
@@ -60,9 +60,9 @@ def timestamp_to_isoformat(timestamp):
     return datetime.fromtimestamp(timestamp).replace(microsecond=0).astimezone().isoformat()
 
 
-class MassAMRInteropNode(Node):
+class MassRoboticsAMRInteropNode(Node):
     """
-    ROS node implementing WebSocket communication to Mass.
+    ROS node implementing WebSocket communication to MassRobotics AMR Receiver.
 
     The node configuration is obtained from a configuration file that can
     be provided externally. On initialization, the node subscribes to various
@@ -192,7 +192,7 @@ def _read_config_file(self, config_file_path):
             raise ValueError(f"Configuration file '{config_file_path}' doesn't exist!")
 
         self.logger.info(f"Using configuration file '{config_file_path}'")
-        return MassAMRInteropConfig(str(config_file_path))
+        return MassRoboticsAMRInteropConfig(str(config_file_path))
 
     def _get_frame_id_from_header(self, msg):
         msg_frame_id = msg.header.frame_id

ros2_to_mass_amr_interop/config.py → massrobotics_amr_sender_py/massrobotics_amr_sender/config.py

@@ -49,7 +49,7 @@
 STATUS_REPORT_INTERVAL = 1
 
 
-class MassAMRInteropConfig:
+class MassRoboticsAMRInteropConfig:
     """
     Configuration file parsing and value gathering.
 

ros2_to_mass_amr_interop/ros2_to_mass_node.py → massrobotics_amr_sender_py/massrobotics_amr_sender/massrobotics_amr_node.py

@@ -30,14 +30,14 @@
 
 
 import rclpy
-from . import MassAMRInteropNode
+from . import MassRoboticsAMRInteropNode
 
 # Interesting example https://github.com/clalancette/mtexec_example
 
 
 def main(args=None):
     rclpy.init(args=args)
-    node = MassAMRInteropNode()
+    node = MassRoboticsAMRInteropNode()
     rclpy.spin(node)
     rclpy.shutdown()
 

package.xml → massrobotics_amr_sender_py/package.xml

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>ros2-to-mass-amr-interop</name>
-  <version>0.0.1</version>
-  <description>MassRobotics AMR Interop Standard implementation</description>
+  <name>massrobotics_amr_sender</name>
+  <version>0.0.2</version>
+  <description>MassRobotics AMR Interop Sender</description>
   <maintainer email="[email protected]">leandro</maintainer>
   <license>3-Clause BSD License</license>
 

sample_config.yaml → massrobotics_amr_sender_py/sample_config.yaml

@@ -1,8 +1,8 @@
-# ==================================================================
-# ROS2 to Mass AMR Interoperability Standard node configuration file
-# ==================================================================
+# ====================================================================
+# MassRobotics AMR Interoperability Standard sender configuration file
+# ====================================================================
 #
-# Parameters that are used to configure ROS2 node for connecting to Mass compatible servers.
+# Parameters that are used to configure ROS2 node for connecting to MassRobotics compatible servers.
 # The `server` section expects a string with a WebSocket server URI, while the `mappings` section
 # contains a list of paramaters for configuring the ROS2 node. As per AMR Interop Standard,
 # mandatory parameters are `uuid`, `manufacturerName`, `robotModel`, `robotSerialNumber` and

massrobotics_amr_sender_py/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/massrobotics_amr_sender
+[install]
+install-scripts=$base/lib/massrobotics_amr_sender

setup.py → massrobotics_amr_sender_py/setup.py

@@ -1,13 +1,13 @@
 from setuptools import setup, find_packages
 
-package_name = 'ros2_to_mass_amr_interop'
+package_name = 'massrobotics_amr_sender'
 
 setup(
     name=package_name,
     packages=find_packages(),
     package_data={'': ['schema.json']},
     include_package_data=True,
-    version='0.1.0',
+    version='0.0.2',
     data_files=[
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
@@ -17,12 +17,12 @@
     zip_safe=True,
     maintainer='InOrbit',
     maintainer_email='[email protected]',
-    description='ROS2 node implementing MassRobotics AMR Interoperability Standard',
-    license='TODO: License declaration',
+    description='ROS2 node implementing a MassRobotics AMR Interoperability Sender',
+    license='3-Clause BSD License',
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            'ros2_to_mass_node = ros2_to_mass_amr_interop.ros2_to_mass_node:main'
+            'massrobotics_amr_node = massrobotics_amr_sender.massrobotics_amr_node:main'
         ],
     },
 )

test/test_mass_interop.py → massrobotics_amr_sender_py/test/test_mass_interop.py

@@ -34,7 +34,7 @@
 from rclpy import Parameter
 from pathlib import Path
 from unittest.mock import AsyncMock
-from ros2_to_mass_amr_interop import MassAMRInteropNode
+from massrobotics_amr_sender import MassRoboticsAMRInteropNode
 
 from std_msgs import msg as ros_std_msgs
 from geometry_msgs import msg as ros_geometry_msgs
@@ -91,7 +91,7 @@ def mock_ws_conn(mocker):
     def _fake_status_publisher_thread():
         pass
 
-    mocker.patch('ros2_to_mass_amr_interop.MassAMRInteropNode._status_publisher_thread',
+    mocker.patch('massrobotics_amr_sender.MassRoboticsAMRInteropNode._status_publisher_thread',
                  side_effect=_fake_status_publisher_thread)
 
 
@@ -113,13 +113,13 @@ def test_mass_config_load_fails_on_missing_config_file(monkeypatch):
     monkeypatch.delenv("MY_UUID")
     rclpy.init()
     with pytest.raises(ValueError):
-        MassAMRInteropNode()
+        MassRoboticsAMRInteropNode()
     rclpy.shutdown()
 
 
-def test_ros2_to_mass_node_init():
+def test_massrobotics_amr_node_init():
     rclpy.init()
-    node = MassAMRInteropNode(parameter_overrides=[
+    node = MassRoboticsAMRInteropNode(parameter_overrides=[
         Parameter("config_file", value=str(config_file_test))
     ])
     rclpy.spin_once(node, timeout_sec=.1)
@@ -343,10 +343,10 @@ def test_ros2_to_mass_node_init():
 ]
 
 
-def test_ros2_to_mass_node_status_report_callbacks(event_loop):
+def test_massrobotics_amr_node_status_report_callbacks(event_loop):
     rclpy.init()
     # create the node we want to test
-    node = MassAMRInteropNode(parameter_overrides=[
+    node = MassRoboticsAMRInteropNode(parameter_overrides=[
         Parameter("config_file", value=str(config_file_test))
     ])
     # also create an additional node to publish messages

test/test_mass_interop_config.py → massrobotics_amr_sender_py/test/test_mass_interop_config.py

@@ -29,17 +29,17 @@
 
 import pytest
 from pathlib import Path
-from ros2_to_mass_amr_interop.config import MassAMRInteropConfig
-from ros2_to_mass_amr_interop.config import CFG_PARAMETER_LOCAL
-from ros2_to_mass_amr_interop.config import CFG_PARAMETER_ROS_TOPIC
-from ros2_to_mass_amr_interop.config import CFG_PARAMETER_ENVVAR
+from massrobotics_amr_sender.config import MassRoboticsAMRInteropConfig
+from massrobotics_amr_sender.config import CFG_PARAMETER_LOCAL
+from massrobotics_amr_sender.config import CFG_PARAMETER_ROS_TOPIC
+from massrobotics_amr_sender.config import CFG_PARAMETER_ENVVAR
 
 cwd = Path(__file__).resolve().parent
 
 
 def test_mass_config_load():
     cfg_file_path = Path(cwd).parent / "sample_config.yaml"
-    assert MassAMRInteropConfig(str(cfg_file_path)).mappings != {}
+    assert MassRoboticsAMRInteropConfig(str(cfg_file_path)).mappings != {}
 
 
 @pytest.mark.parametrize("param_name, param_type", [
@@ -51,7 +51,7 @@ def test_mass_config_load():
 ])
 def test_mass_config_get_parameter_type(param_name, param_type):
     cfg_file_path = Path(cwd).parent / "sample_config.yaml"
-    mass_config = MassAMRInteropConfig(str(cfg_file_path))
+    mass_config = MassRoboticsAMRInteropConfig(str(cfg_file_path))
     assert mass_config.get_parameter_source(param_name) == param_type
 
 
@@ -64,7 +64,7 @@ def test_mass_config_get_parameter_type(param_name, param_type):
 def test_mass_config_get_parameter_value(monkeypatch, param_name, value):
     monkeypatch.setenv("MY_UUID", "foo")  # Environment variable used on config file
     cfg_file_path = Path(cwd).parent / "sample_config.yaml"
-    mass_config = MassAMRInteropConfig(str(cfg_file_path))
+    mass_config = MassRoboticsAMRInteropConfig(str(cfg_file_path))
     assert mass_config.get_parameter_value(param_name) == value
 
 
@@ -78,5 +78,5 @@ def test_mass_config_get_parameter_value(monkeypatch, param_name, value):
 def test_mass_config_get_parameters_by_source(monkeypatch, param_name, source):
     monkeypatch.setenv("MY_UUID", "foo")  # Environment variable used on config file
     cfg_file_path = Path(cwd).parent / "sample_config.yaml"
-    mass_config = MassAMRInteropConfig(str(cfg_file_path))
+    mass_config = MassRoboticsAMRInteropConfig(str(cfg_file_path))
     assert param_name in mass_config.parameters_by_source[source]