support ros2 topic pub yaml file input by fujitatomoya · Pull Request #925 · ros2/ros2cli

fujitatomoya · 2024-08-30T05:37:38Z

closes #919

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

fujitatomoya

This enables the following command line option with ros2 topic pub.

Note that yaml files are saved with ros2 topic echo > xxx.yaml.

root@tomoyafujita:~/ros2_ws/colcon_ws# cat chatter.yaml
---
data: 'Hello ROS Users'
---
---
data: Hello ROS Developers
---
data: Hello ROS Developers
---
---
data: 'Hello ROS Users'

root@tomoyafujita:~/ros2_ws/colcon_ws# ros2 topic pub /chatter std_msgs/msg/String --yaml-file chatter.yaml
publisher: beginning loop
publishing #1: std_msgs.msg.String(data='Hello ROS Users')

publishing #2: std_msgs.msg.String(data='Hello ROS Developers')

publishing #3: std_msgs.msg.String(data='Hello ROS Developers')

publishing #4: std_msgs.msg.String(data='Hello ROS Users')

root@tomoyafujita:~/ros2_ws/colcon_ws# cat tf2.yaml
transforms:
- header:
    stamp:
      sec: 1721935886
      nanosec: 528868866
    frame_id: foo
  child_frame_id: bar
  transform:
    translation:
      x: 1.0
      y: 2.0
      z: 3.0
    rotation:
      x: -0.4747921762038255
      y: -0.07596622270177095
      z: 0.24006245183344296
      w: 0.8433098728485138
---
transforms:
- header:
    stamp:
      sec: 1721935886
      nanosec: 528868866
    frame_id: foo
  child_frame_id: bar
  transform:
    translation:
      x: 1.0
      y: 2.0
      z: 3.0
    rotation:
      x: -0.4747921762038255
      y: -0.07596622270177095
      z: 0.24006245183344296
      w: 0.8433098728485138

root@tomoyafujita:~/ros2_ws/colcon_ws# ros2 topic pub /tf_static tf2_msgs/msg/TFMessage --yaml-file tf2.yaml
publisher: beginning loop
publishing #1: tf2_msgs.msg.TFMessage(transforms=[geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1721935886, nanosec=528868866), frame_id='foo'), child_frame_id='bar', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=1.0, y=2.0, z=3.0), rotation=geometry_msgs.msg.Quaternion(x=-0.4747921762038255, y=-0.07596622270177095, z=0.24006245183344296, w=0.8433098728485138)))])

publishing #2: tf2_msgs.msg.TFMessage(transforms=[geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1721935886, nanosec=528868866), frame_id='foo'), child_frame_id='bar', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=1.0, y=2.0, z=3.0), rotation=geometry_msgs.msg.Quaternion(x=-0.4747921762038255, y=-0.07596622270177095, z=0.24006245183344296, w=0.8433098728485138)))])

fujitatomoya · 2024-08-30T05:41:47Z

@mjcarroll @clalancette @sloretz what do you think? this can be useful for test and development.

fujitatomoya · 2024-09-04T16:29:24Z

CC: @ahcorde if you have time, can you take a look?

ahcorde

This is a simplification of a rosbag, not sure about this feature, let's see what other people thing about it

fujitatomoya · 2024-09-05T16:11:53Z

This is a simplification of a rosbag, not sure about this feature, let's see what other people thing about it

yeah that is true.

the difference what i think of is, probably much easier to use and modify the data contents that are saved as yaml via ros2 topic echo. we have a chat about this in triage meeting, #919 (comment) but yes lets get more feedback for this feature. see usage for #925 (review)

CC: @Ryanf55 @mjcarroll @clalancette

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

fujitatomoya · 2024-11-19T01:27:49Z

@clalancette @sloretz what do you think about this option? it would be really easier for user to update the data contents and publish it compared to rosbag2.

Ryanf55

Sorry, I realized I never submitted my review. This functions exactly as I requested. I'm a big fan of this feature and would love to see it merged.

I think it's a much more usable way to publish messages and be able to edit the contents in a human readable way.

Currently, I would write a shell script with `ros2 topic pub /my_topic my_pkg/mytype
"{
and: [manually_formatted_yaml, in_a_shell_script]
}"

Where it's easy to mess up the syntax in a shell script without yaml syntax in my editor. This PR represents a significant improvement in readability and helps me document in README's example messages to publish to affect the state of my robotic system.

fujitatomoya · 2024-12-03T17:04:46Z

We talked about this feature a bit in ROS PMC meeting today. after all feature makes sense, so i will keep this open for review.

@MichaelOrlov i do not think of the necessity to use rosbag2_py APIs here, what do you think?

ros-discourse · 2024-12-03T18:44:41Z

This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/ros-pmc-meeting-minutes-2024-12-03/40941/1

MichaelOrlov

Hi @fujitatomoya, Conceptually, it looks good to me. However, I didn't do a thorough review.

fujitatomoya · 2024-12-08T19:45:27Z

@MichaelOrlov @clalancette thanks for the review and comments, i will address them soon.

fujitatomoya · 2024-12-09T20:56:27Z

Pulls: #925
Gist: https://gist.githubusercontent.com/fujitatomoya/5a498ad800e7b1dfa97f49c29afd8b27/raw/08a9f35c751b73a5ed630c8df618acf0fa32743b/ros2.repos
BUILD args: --packages-above-and-dependencies ros2topic
TEST args: --packages-above ros2topic
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/14926

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Linux-aarch64
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…--stdin`. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

fujitatomoya · 2024-12-09T21:08:04Z

Pulls: #925
Gist: https://gist.githubusercontent.com/fujitatomoya/76ff99794019cd2719103d04a39aac40/raw/08a9f35c751b73a5ed630c8df618acf0fa32743b/ros2.repos
BUILD args: --packages-above-and-dependencies ros2topic
TEST args: --packages-above ros2topic
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/14927

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Linux-aarch64
Linux-rhel
Windows

fujitatomoya · 2024-12-09T21:08:25Z

@clalancette i have addressed your comments, and all tests are passing locally. can i have your approval?

fujitatomoya · 2025-02-03T21:42:12Z

@clalancette @ahcorde can i have an approval either of you?

ahcorde · 2025-02-07T14:38:05Z

Pulls: #925
Gist: https://gist.githubusercontent.com/ahcorde/c7c617a575741538b5c0c5fa6ecb7ade/raw/f2d5d6ad5b722461450f91d2aecf19b59310172b/ros2.repos
BUILD args: --packages-up-to ros2topic --packages-above-and-dependencies ros2topic
TEST args: --packages-select ros2topic --packages-above ros2topic
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/15135

Linux
Linux-aarch64
Linux-rhel
Windows

fujitatomoya added 2 commits August 28, 2024 17:50

ros2 topic pub --yaml-file support.

c9d666f

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

add test_pub_yaml for ros2topic.

4adef79

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

fujitatomoya requested review from audrow and gbiggs as code owners August 30, 2024 05:37

fujitatomoya commented Aug 30, 2024

View reviewed changes

fujitatomoya mentioned this pull request Aug 30, 2024

Allow ros2 topic echo output to be used in ros2 topic pub #919

Closed

ahcorde reviewed Sep 5, 2024

View reviewed changes

Comment thread ros2topic/ros2topic/verb/pub.py Outdated

Comment thread ros2topic/ros2topic/verb/pub.py Outdated

fix typos, should be YAML.

07fb41b

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

wjwwood assigned sloretz Oct 3, 2024

Ryanf55 approved these changes Nov 19, 2024

View reviewed changes

clalancette requested changes Dec 3, 2024

View reviewed changes

Comment thread ros2topic/ros2topic/verb/pub.py Outdated

Comment thread ros2topic/ros2topic/verb/pub.py Outdated

MichaelOrlov reviewed Dec 8, 2024

View reviewed changes

have --yaml-file option in mutual exclusive group with values and `…

b03cf8a

…--stdin`. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

fujitatomoya force-pushed the fujitatomoya/support-ros2-topic-pub-yaml-file branch from 853e7f2 to b03cf8a Compare December 9, 2024 21:02

fujitatomoya mentioned this pull request Jan 31, 2025

Strategies for YAML Message Generation Using ROS CLI ros2/ros2_documentation#4984

Closed

fujitatomoya requested a review from clalancette January 31, 2025 23:47

ahcorde approved these changes Feb 7, 2025

View reviewed changes

ahcorde merged commit 4e51c02 into rolling Feb 7, 2025

ahcorde deleted the fujitatomoya/support-ros2-topic-pub-yaml-file branch February 7, 2025 17:58

fujitatomoya mentioned this pull request Feb 17, 2025

added Publishing-Messages-Using-YAML-Files.rst and edited Intermediat… ros2/ros2_documentation#5034

Merged

Yadunund mentioned this pull request Apr 16, 2025

Switch to YAML for work order files osrf/nexus#86

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