[ontopy] fix ros2 compatibility

CMakeLists.txt

@@ -55,6 +55,13 @@ find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(TinyXML2 REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+
+#install(PROGRAMS
+#        ontopy/${PROJECT_NAME}
+#        DESTINATION lib)
+
+ament_python_install_package(ontopy)
 endif()
 
 ################################################

ontopy/__init__.py

@@ -0,0 +1 @@
+from .ontologenius import *

ontopy/ontologenius/ConversionClient.py

@@ -1,7 +1,11 @@
 from .compat.ros import Ontoros, OntoService
+import os
 
 from ontologenius.srv import OntologeniusConversion
-from ontologenius.srv import OntologeniusConversionRequest
+if os.environ["ROS_VERSION"] == "1":
+    from ontologenius.srv import OntologeniusConversionRequest
+else:
+    from ontologenius.srv._ontologenius_conversion import OntologeniusConversion_Request as OntologeniusConversionRequest
 
 class ConversionClient:
 
@@ -112,5 +116,5 @@ def _id2Index(self, id, source):
           return None
 
     def _call(self, source, values_str, values_int):
-        request = OntologeniusConversionRequest(source, values_str, values_int)
+        request = OntologeniusConversionRequest(source = source, values_str = values_str, values_int = values_int)
         return self._client.call(request, self._verbose)

ontopy/ontologenius/FeederPublisher.py

@@ -1,6 +1,12 @@
 from .compat.ros import Ontoros
+
+import os
+
 from std_msgs.msg import String
-from ontologenius.msg import StampedString
+if os.environ["ROS_VERSION"] == "1":
+    from ontologenius.msg import StampedString
+else:
+    from ontologenius.msg import OntologeniusStampedString as StampedString
 
 import time
 import random
@@ -240,7 +246,8 @@ def _publish(self, data):
         self._pub.publish(data)
 
     def _publish_stamped(self, data, stamp):
-        self._stamped_pub.publish(data, stamp)
+        msg = StampedString(data = data, stamp = stamp)
+        self._stamped_pub.publish(msg)
 
     def commitCallback(self, data):
         if data.data == 'end':

ontopy/ontologenius/clients/ClientBase.py

@@ -1,6 +1,12 @@
-from ..compat.ros import Ontoros, OntoService
+from ..compat.ros import Ontoros
+import os
+
+from ontologenius.srv import OntologeniusService
+if os.environ["ROS_VERSION"] == "1":
+    from ontologenius.srv import OntologeniusServiceRequest
+else:
+    from ontologenius.srv._ontologenius_service import OntologeniusService_Request as OntologeniusServiceRequest
 
-from ontologenius.srv import OntologeniusService, OntologeniusServiceRequest
 
 class ClientBase:
     """The ClientBase class provides an abstraction for any ROS services.
@@ -37,7 +43,7 @@ def call(self, action, param):
            If the service call fails, the function returns None
         """
         ClientBase._cpt += 1
-        request = OntologeniusServiceRequest(action, param)
+        request = OntologeniusServiceRequest(action = action, param = param)
         response = self._client.call(request, ClientBase._verbose)
         if(response is None):
             self.error_code = -1
@@ -52,7 +58,7 @@ def callStr(self, action, param):
            If the service call fails, the function returns None
         """
         ClientBase._cpt += 1
-        request = OntologeniusServiceRequest(action, param)
+        request = OntologeniusServiceRequest(action = action, param = param)
         response = self._client.call(request, ClientBase._verbose)
         if(response is None):
             self.error_code = -1
@@ -70,7 +76,7 @@ def callNR(self, action, param):
            If the service call fails, the function returns False
         """
         ClientBase._cpt += 1
-        request = OntologeniusServiceRequest(action, param)
+        request = OntologeniusServiceRequest(action = action, param = param)
         response = self._client.call(request, ClientBase._verbose)
         if(response is None):
             self.error_code = -1
@@ -86,7 +92,7 @@ def callBool(self, action, param):
            service is different from SUCCESS.
         """
         ClientBase._cpt += 1
-        request = OntologeniusServiceRequest(action, param)
+        request = OntologeniusServiceRequest(action = action, param = param)
         response = self._client.call(request, ClientBase._verbose)
         if(response is None):
             self.error_code = -1

ontopy/ontologenius/clients/SparqlClient.py

@@ -1,6 +1,11 @@
 from ..compat.ros import Ontoros, OntoService
+import os
 
-from ontologenius.srv import OntologeniusSparqlService, OntologeniusSparqlServiceRequest
+from ontologenius.srv import OntologeniusSparqlService
+if os.environ["ROS_VERSION"] == "1":
+    from ontologenius.srv import OntologeniusSparqlServiceRequest
+else:
+    from ontologenius.srv._ontologenius_sparql_service import OntologeniusSparqlService_Request as OntologeniusSparqlServiceRequest
 
 class SparqlClient:
     """The SparqlClient class provides a ROS service to explore ontologenius with SPARQL-like queries.
@@ -17,7 +22,7 @@ def __init__(self, name):
         self._client = Ontoros.createService('ontologenius/' + self._name, OntologeniusSparqlService)
 
     def call(self, query):
-        request = OntologeniusSparqlServiceRequest(query)
+        request = OntologeniusSparqlServiceRequest(query = query)
         response = self._client.call(request)
         if(response is None):
             return None

ontopy/ontologenius/clientsIndex/ClientBaseIndex.py

@@ -1,6 +1,11 @@
 from ..compat.ros import Ontoros, OntoService
+import os
 
-from ontologenius.srv import OntologeniusIndexService, OntologeniusIndexServiceRequest
+from ontologenius.srv import OntologeniusIndexService
+if os.environ["ROS_VERSION"] == "1":
+    from ontologenius.srv import OntologeniusIndexServiceRequest
+else:
+    from ontologenius.srv._ontologenius_index_service import OntologeniusIndexService_Request as OntologeniusIndexServiceRequest
 
 class ClientBaseIndex:
     """The ClientBaseIndex class provides an abstraction for any ROS services.
@@ -37,7 +42,7 @@ def call(self, action, param):
            If the service call fails, the function returns None
         """
         ClientBaseIndex._cpt += 1
-        request = OntologeniusIndexServiceRequest(action, param)
+        request = OntologeniusIndexServiceRequest(action = action, param = param)
         response = self._client.call(request, ClientBaseIndex._verbose)
         if(response is None):
             self.error_code = -1
@@ -52,7 +57,7 @@ def callIndexes(self, action, param):
            If the service call fails, the function returns None
         """
         ClientBaseIndex._cpt += 1
-        request = OntologeniusIndexServiceRequest(action, param)
+        request = OntologeniusIndexServiceRequest(action = action, param = param)
         response = self._client.call(request, ClientBaseIndex._verbose)
         if(response is None):
             self.error_code = -1
@@ -67,7 +72,7 @@ def callStr(self, action, param):
            If the service call fails, the function returns None
         """
         ClientBaseIndex._cpt += 1
-        request = OntologeniusIndexServiceRequest(action, param)
+        request = OntologeniusIndexServiceRequest(action = action, param = param)
         response = self._client.call(request, ClientBaseIndex._verbose)
         if(response is None):
             self.error_code = -1
@@ -85,7 +90,7 @@ def callIndex(self, action, param):
            If the service call fails, the function returns None
         """
         ClientBaseIndex._cpt += 1
-        request = OntologeniusIndexServiceRequest(action, param)
+        request = OntologeniusIndexServiceRequest(action = action, param = param)
         response = self._client.call(request, ClientBaseIndex._verbose)
         if(response is None):
             self.error_code = -1
@@ -103,7 +108,7 @@ def callNR(self, action, param):
            If the service call fails, the function returns False
         """
         ClientBaseIndex._cpt += 1
-        request = OntologeniusIndexServiceRequest(action, param)
+        request = OntologeniusIndexServiceRequest(action = action, param = param)
         response = self._client.call(request, ClientBaseIndex._verbose)
         if(response is None):
             self.error_code = -1
@@ -119,7 +124,7 @@ def callBool(self, action, param):
            service is different from SUCCESS.
         """
         ClientBaseIndex._cpt += 1
-        request = OntologeniusIndexServiceRequest(action, param)
+        request = OntologeniusIndexServiceRequest(action = action, param = param)
         response = self._client.call(request, ClientBaseIndex._verbose)
         if(response is None):
             self.error_code = -1

ontopy/ontologenius/clientsIndex/SparqlIndexClient.py

@@ -1,6 +1,11 @@
 from ..compat.ros import Ontoros, OntoService
+import os
 
-from ontologenius.srv import OntologeniusSparqlIndexService, OntologeniusSparqlIndexServiceRequest
+from ontologenius.srv import OntologeniusSparqlIndexService
+if os.environ["ROS_VERSION"] == "1":
+    from ontologenius.srv import OntologeniusSparqlIndexServiceRequest
+else:
+    from ontologenius.srv._ontologenius_sparql_index_service import OntologeniusSparqlIndexService_Request as OntologeniusSparqlIndexServiceRequest
 
 class SparqlIndexClient:
     """The SparqlIndexClient class provides a ROS service to explore ontologenius with SPARQL-like queries based on indexes.
@@ -18,7 +23,7 @@ def __init__(self, name):
 
 
     def call(self, query):
-        request = OntologeniusSparqlIndexServiceRequest(query)
+        request = OntologeniusSparqlIndexServiceRequest(query = query)
         response = self._client.call(request)
         if(response is None):
             return None

ontopy/ontologenius/compat/ros.py

@@ -1,4 +1,5 @@
 import os
+from ontologenius.msg import OntologeniusTimestamp
 
 if os.environ["ROS_VERSION"] == "1":
     import rospy
@@ -50,6 +51,9 @@ def __init__(self, sub_name, sub_type, callback):
         def getNumPublishers(self):
             self.sub.get_num_connections()
 
+        def unregister(self):
+            self.sub.unregister()
+
     class Ontoros :
         def createService(srv_name, srv_type):
             return OntoService(srv_name, srv_type)
@@ -61,7 +65,7 @@ def createSubscriber(sub_name, sub_type, callback):
             return OntoSubscriber(sub_name, sub_type, callback)
 
         def getRosTime():
-            return rospy.get_rostime()
+            return rospy.get_rostime() # TODO
 
         def isShutdown():
             return rospy.is_shutdown()
@@ -114,20 +118,21 @@ def __call__(cls, *args, **kwargs):
 
 
     class OntoService:
-        def __init__(self, client: Client, node_: Node):
+        def __init__(self, client: Client, name, node_: Node):
             self.client: Client = client
             self.node_: Node = node_
+            self.srv_name = name
 
-        def call(self, params: SrvTypeRequest) -> SrvTypeResponse:
+        def call(self, params: SrvTypeRequest, verbose) -> SrvTypeResponse:
             future = self.client.call_async(request=params)
             rclpy.spin_until_future_complete(self.node_, future)
             return future.result()
 
-        def wait(self, timeout = -1): # TODO
+        def wait(self, timeout = -1):
             if(timeout != -1):
-                self.client.wait_for_service(self.srv_name, timeout)
+                self.client.wait_for_service(timeout)
             else:
-                self.client.wait_for_service(self.srv_name)
+                self.client.wait_for_service()
 
 
     class OntoPublisher:
@@ -138,37 +143,42 @@ def publish(self, msg):
             self.pub.publish(msg)
 
         def getNumSubscribers(self):
-            self.pub.get_num_connections() # TODO
+            self.pub.get_num_connections()
 
 
     class OntoSubscriber:
         def __init__(self, sub):
             self.sub: Subscription = sub
 
         def getNumPublishers(self):
-            self.sub.get_num_connections() # TODO
+            self.sub.get_num_connections()
+
+        def unregister(self):
+            pass
 
 
-    class OntoROS(Node, metaclass=SingletonMeta):
+    class Ontoros(Node, metaclass=SingletonMeta):
 
         def __init__(self):
             super().__init__("OntoRos")
 
         @staticmethod
-        def createService(srv_name, srv_type, connected) -> OntoService:
-            return OntoService(OntoROS().create_client(srv_name, srv_type), OntoROS())
+        def createService(srv_name, srv_type) -> OntoService:
+            return OntoService(Ontoros().create_client(srv_type, srv_name), srv_name, Ontoros())
 
         @staticmethod
         def createPublisher(pub_name, pub_type, queue_size: int) -> OntoPublisher:
-            return OntoPublisher(OntoROS().create_publisher(pub_type, pub_name, qos_profile=queue_size))
+            return OntoPublisher(Ontoros().create_publisher(pub_type, pub_name, qos_profile=queue_size))
 
         @staticmethod
         def createSubscriber(sub_name, sub_type, callback, queue_size: int = 10) -> OntoSubscriber:
-            return OntoSubscriber(OntoROS().create_subscription(sub_type, sub_name, callback, qos_profile=queue_size))
+            return OntoSubscriber(Ontoros().create_subscription(sub_type, sub_name, callback, qos_profile=queue_size))
 
         @staticmethod
         def getRosTime() -> Time:
-            return OntoROS().get_clock().now()
+            t_msg = Ontoros().get_clock().now().to_msg()
+            stamp_msg = OntologeniusTimestamp(seconds = t_msg._sec, nanoseconds = t_msg._nanosec)
+            return stamp_msg
 
         @staticmethod
         def isShutdown() -> bool: