PR: Added examples for plugin-manager and plugin

README.md

@@ -89,8 +89,8 @@ Everything is a component. We happily [nodelet everything](https://www.clearpath
 * [o] **Tests**
   * [X] unit testing works
   * [X] integration testing works almost like in ROS1, more complex now but also more powerfull
-* [ ] **Pluginlib**
-  * [ ] TODO
+* [X] **Pluginlib**
+  * [X] TODO
 * [ ] **Actionlib**
   * [ ] TODO
 * [ ] **Lifecycles** (new feature)
@@ -106,3 +106,4 @@ Everything is a component. We happily [nodelet everything](https://www.clearpath
   This finds the relevant generated C++ code from ``AddressBook.msg`` and allows your target to link against it.
 
   You may have noticed that this step was not necessary when the interfaces being used were from a package that was built separately. This CMake code is only     required when you want to use interfaces in the same package as the one in which they are used. [Source](https://docs.ros.org/en/foxy/Tutorials/Single-Package-Define-And-Use-Interface.html#link-against-the-interface)
+# download_artifact_test

extended_examples/pluginlib_example/example_plugin_manager/CMakeLists.txt

@@ -1,69 +1,92 @@
 cmake_minimum_required(VERSION 3.5)
 project(example_plugin_manager)
 
-set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD 20)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 # set the compile options to show code warnings
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(ament_cmake REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_components REQUIRED)
-find_package(pluginlib REQUIRED)
-find_package(ros2_examples REQUIRED)
-find_package(Eigen3 REQUIRED)
+set(DEPENDENCIES
+  ament_cmake
+  ament_cmake_ros
+  rclcpp
+  rclcpp_components
+  pluginlib
+  Eigen3
+  ros2_examples
+)
+
+set(LIBRARIES
+  ExamplePluginManager_PluginManager
+  )
 
-set(Eigen_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS})
-set(Eigen_LIBRARIES ${Eigen_LIBRARIES})
+foreach(DEP IN LISTS DEPENDENCIES)
+  find_package(${DEP} REQUIRED)
+endforeach()
 
 include_directories(
   include
+  ${rclcpp_INCLUDE_DIRS}
+  ${ros2_examples_INCLUDE_DIRS}
   )
 
 # ExamplePluginManager
-
-add_library(example_plugin_manager SHARED
+add_library(ExamplePluginManager_PluginManager SHARED
  src/example_plugin_manager.cpp
  )
+
 # ament manages cmake related variables and dependency search (similar to catkin in ROS1)
-ament_target_dependencies(example_plugin_manager
-  rclcpp
-  rclcpp_components
-  pluginlib
-  Eigen3
-  ros2_examples
+ament_target_dependencies(ExamplePluginManager_PluginManager
+  ${DEPENDENCIES}
 )
 
 # each component (nodelet) needs to be registered to make it discoverable at runtime
-rclcpp_components_register_nodes(example_plugin_manager "example_plugin_manager::ExamplePluginManager")
+rclcpp_components_register_nodes(ExamplePluginManager_PluginManager "example_plugin_manager::ExamplePluginManager")
 
 ## --------------------------------------------------------------
 ## |                           Install                          |
 ## --------------------------------------------------------------
 
-install(TARGETS
-  example_plugin_manager
+ament_export_libraries(
+  ${LIBRARIES}
+)
+
+install(
+  TARGETS ${LIBRARIES}
+  EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
-  )
+)
 
 install(
-  DIRECTORY include/
-  DESTINATION include/${PROJECT_NAME}
+  DIRECTORY include
+  DESTINATION .
 )
 
-install(DIRECTORY launch
+install(
+  DIRECTORY launch
   DESTINATION share/${PROJECT_NAME}
 )
 
-install(DIRECTORY config
+install(
+  DIRECTORY config
   DESTINATION share/${PROJECT_NAME}
 )
 
-ament_export_include_directories("include/${PROJECT_NAME}")
+ament_export_include_directories(
+  include
+)
+
+ament_export_targets(
+  export_${PROJECT_NAME} HAS_LIBRARY_TARGET
+)
+
+ament_export_dependencies(
+  ${DEPENDENCIES}
+)
+
 ament_package()

extended_examples/pluginlib_example/example_plugin_manager/config/example_plugin_manager.yaml

@@ -1,5 +1,5 @@
 # the list of "names" of the loaded plugins
-# each plugin's properties are defined in 'plugins.yaml'
+# each plugin's properties are defined in 'plugins.yaml' of the example_plugin package
 plugins : [
   "ExamplePlugin",
   "ExamplePlugin2",
@@ -9,4 +9,4 @@ plugins : [
 # should be within "plugins"
 initial_plugin: "ExamplePlugin2"
 
-update_timer_rate: 1 # [Hz]
+update_timer_rate: 1.0 # [Hz]

extended_examples/pluginlib_example/example_plugin_manager/config/plugins.yaml

@@ -1,12 +1,12 @@
 # define "running instances" of plugins, there can be more than one for each
 
 ExamplePlugin:
-  address: "example_plugins/ExamplePlugin" # this is taken from the plugin's package.xml
-  name_space: "example_plugin" # useful for loading parameters into difference instances of the same plugin
+  address: "example_plugins::ExamplePlugin" # this is taken from the 'type' arg of plugins.xml which is inside the 'example_plugin' pkg
+  name_space: "example_plugin" # useful for loading parameters into different instances of the same plugin
   some_property: 6.28 # this can be anything specific the manager needs to hold for each instance of each plugin
 
 # We can run another instance of the same plugin
 ExamplePlugin2:
-  address: "example_plugins/ExamplePlugin" # this is taken from the plugin's package.xml
-  name_space: "example_plugin_2"
+  address: "example_plugins::ExamplePlugin"
+  name_space: "example_plugin_2" # notice the different namespace to separate these plugins
   some_property: 10.1

extended_examples/pluginlib_example/example_plugin_manager/include/example_plugin_manager/plugin_interface.h

@@ -9,7 +9,7 @@ namespace example_plugin_manager
 
 class Plugin {
 public:
-  virtual void initialize(const rclcpp::Node &parent_node, const std::string& name, const std::string& name_space,
+  virtual void initialize(const std::shared_ptr<rclcpp::Node> &sub_node, const std::string& name,
                           std::shared_ptr<example_plugin_manager::CommonHandlers_t> common_handlers) = 0;
 
   virtual bool activate(const int& some_number) = 0;

extended_examples/pluginlib_example/example_plugin_manager/launch/example_plugin_manager.py

@@ -0,0 +1,54 @@
+import launch
+import os
+
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+from launch.substitutions import EnvironmentVariable
+
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+
+    ld = launch.LaunchDescription()
+
+    pkg_name = "example_plugin_manager"
+    pkg_share_path = get_package_share_directory(pkg_name)
+
+    # param loaded from env variable
+    uav_type = EnvironmentVariable("UAV_TYPE", default_value="dummy")
+
+    ld.add_action(ComposableNodeContainer(
+
+        namespace="container_ns",
+        name="comp_container",
+        package="rclcpp_components",
+        executable="component_container_mt",
+
+        composable_node_descriptions=[
+
+            ComposableNode(
+
+                package=pkg_name,
+                plugin="example_plugin_manager::ExamplePluginManager",
+                namespace="node_ns",
+                name="example_plugin_manager",
+
+                parameters=[
+                        pkg_share_path + "/config/example_plugin_manager.yaml",
+                        pkg_share_path + "/config/plugins.yaml",
+                        {"uav_type": uav_type},
+                    ],
+
+                # remappings=[
+                #     # topics
+                #     ("~/topic_out", "~/topic"),
+                # ],
+
+                ),
+
+            ],
+
+        output="screen",
+        ))
+
+    return ld

extended_examples/pluginlib_example/example_plugin_manager/package.xml

@@ -7,16 +7,18 @@
 
   <author email="[email protected]">Afzal Ahmad</author>
   <maintainer email="[email protected]">Afzal Ahmad</maintainer>
+  <maintainer email="[email protected]">Tomas Baca</maintainer>
 
   <license>TODO: License declaration</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>nodelet</depend>
-  <depend>mrs_lib</depend>
+  <depend>pluginlib </depend>
   <depend>ros2_examples</depend>
+  <depend>eigen</depend>
 
   <export>
     <build_type>ament_cmake</build_type>