ROS2 Action Support: Merge pull request #474 from memrecakal/master

ROS2 Action Support

Author: memrecakal

Libraries/MessageGeneration/ActionAutoGen.cs

@@ -11,6 +11,13 @@ You may obtain a copy of the License at
 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 See the License for the specific language governing permissions and
 limitations under the License.
+
+- Added ROS2 action support: Added new identifiers for ROS2 default constructor, parameterized constructor, and ROS message name.
+                        - Default constructor: goal -> args, result -> values, feedback -> values
+                        - Parameterized constructor: goal -> GoalInfo instead of GoalID, result -> sbyte status, bool result, string id instead of GoalStatus, feedback -> string id, string action instead of GoalStatus
+                        - ROS message name: rosPackageName/action/wrapperName
+                        - Namespace: RosSharp.RosBridgeClient.MessageTypes.Action instead of RosSharp.RosBridgeClient.MessageTypes.Actionlib
+    © Siemens AG, 2025, Mehmet Emre Cakal, [email protected]/[email protected]
 */
 
 using System;
@@ -163,8 +170,28 @@ private string GenerateDefaultValueConstructor(string className)
 
             foreach (string identifier in symbolTable.Keys)
             {
-                constructor += TWO_TABS + ONE_TAB + "this." + identifier + " = ";
                 string type = symbolTable[identifier];
+
+                string adjustedIdentifier = identifier;
+
+                if (ActionAutoGen.isRos2)
+                {
+                    if (identifier.Equals("goal"))
+                    {
+                        adjustedIdentifier = "args";
+                    }
+                    else if (identifier.Equals("result") || identifier.Equals("feedback"))
+                    {
+                        adjustedIdentifier = "values";
+                    }
+                    else
+                    {
+                        adjustedIdentifier = identifier;
+                        Console.WriteLine("Warning: Unrecognized identifier: " + identifier);
+                    }
+                }
+
+                constructor += TWO_TABS + ONE_TAB + "this." + adjustedIdentifier + " = ";
                 constructor += "new " + type + "();\n";
             }
 
@@ -181,21 +208,68 @@ private string GenerateParameterizedConstructor(string className, string msgType
             string paramsOut = "";
             string assignments = "";
 
-            if (msgType.Equals("Goal"))
+            if (ActionAutoGen.isRos2)
             {
-                paramsIn += "Header header, GoalID goal_id, ";
-                paramsOut += "header, goal_id";
+                if (msgType.Equals("Goal")) 
+                {
+                    paramsIn += "Header header, GoalInfo goalInfo, ";
+                    paramsOut += "header, goalInfo";
+                }
+                else if (msgType.Equals("Result"))
+                {
+                    paramsIn += "Header header, string action, sbyte status, bool result, string id, ";
+                    paramsOut += "header, action, status, result, id";
+                }
+                else if (msgType.Equals("Feedback"))
+                {
+                    paramsIn += "Header header, string id, string action, ";
+                    paramsOut += "header, id, action";
+                }
+                else
+                {
+                    Console.WriteLine("Warning: Unrecognized message type: " + msgType);
+                }
             }
-            else if (msgType.Equals("Result") || msgType.Equals("Feedback")) {
-                paramsIn += "Header header, GoalStatus status, ";
-                paramsOut += "header, status";
+
+            else
+            {
+                if (msgType.Equals("Goal"))
+                {
+                    paramsIn += "Header header, GoalID goal_id, ";
+                    paramsOut += "header, goal_id";
+                }
+                else if (msgType.Equals("Result") || msgType.Equals("Feedback"))
+                {
+                    paramsIn += "Header header, GoalStatus status, ";
+                    paramsOut += "header, status";
+                }
             }
 
             foreach (string identifier in symbolTable.Keys)
             {
                 string type = symbolTable[identifier];
-                paramsIn += type + " " + identifier + ", ";
-                assignments += TWO_TABS + ONE_TAB + "this." + identifier + " = " + identifier + ";\n";
+
+                string adjustedIdentifier = identifier;
+
+                if (ActionAutoGen.isRos2)
+                {
+                    if (identifier.Equals("goal"))
+                    {
+                        adjustedIdentifier = "args";
+                    }
+                    else if (identifier.Equals("result") || identifier.Equals("feedback"))
+                    {
+                        adjustedIdentifier = "values";
+                    }
+                    else
+                    {
+                        adjustedIdentifier = identifier;
+                        Console.WriteLine("Warning: Unrecognized identifier: " + identifier);
+                    }
+                }
+
+                paramsIn += type + " " + adjustedIdentifier + ", ";
+                assignments += TWO_TABS + ONE_TAB + "this." + adjustedIdentifier + " = " + adjustedIdentifier + ";\n";
             }
 
             if (!paramsIn.Equals(""))
@@ -218,9 +292,19 @@ public void WrapActionSections(string type)
 
             string outPath = Path.Combine(this.outPath, wrapperName + ".cs");
 
-            string imports =
-                "using RosSharp.RosBridgeClient.MessageTypes.Std;\n" +
-                "using RosSharp.RosBridgeClient.MessageTypes.Actionlib;\n\n";
+            string imports = "using RosSharp.RosBridgeClient.MessageTypes.Std;\n";
+
+            if (ActionAutoGen.isRos2)
+            {
+                if (type == "Goal")
+                {
+                    imports += "using RosSharp.RosBridgeClient.MessageTypes.Action;\n\n";
+                }
+            }
+            else
+            {
+                imports += "using RosSharp.RosBridgeClient.MessageTypes.Actionlib;\n\n";
+            }
 
             symbolTable = new Dictionary<string, string>();
 
@@ -254,10 +338,19 @@ public void WrapActionSections(string type)
                     ONE_TAB + "{\n"
                     );
 
-                // Write ROS package name
-                writer.Write(
-                    TWO_TABS + "public const string RosMessageName = \"" + rosPackageName + "/" + wrapperName + "\";\n"
-                    );
+                if (ActionAutoGen.isRos2)
+                {
+                    writer.Write(
+                        TWO_TABS + "public const string RosMessageName = \"" + rosPackageName + "/" + "action" + "/"
+                        + wrapperName + "\";\n");
+                }
+                else
+                {
+                    writer.Write(
+                        TWO_TABS + "public const string RosMessageName = \"" + rosPackageName + "/" + wrapperName + "\";\n"
+                        );
+                }
+                Console.WriteLine("RosMessageName: " + rosPackageName + "/" + wrapperName);
 
                 // Record goal/result/feedback declaration
                 symbolTable.Add(MsgAutoGenUtilities.LowerFirstLetter(type), msgName);

Libraries/MessageGeneration/MessageGeneration.csproj

@@ -12,11 +12,11 @@
 		<Company>Siemens AG</Company>
 		<Product>ROS#</Product>
 		<Copyright>Copyright © 2024</Copyright>
-		<AssemblyVersion>2.0.0.0</AssemblyVersion>
-		<FileVersion>2.0.0.0</FileVersion>
-		<Version>2.0.0</Version>
+		<AssemblyVersion>2.1.0.0</AssemblyVersion>
+		<FileVersion>2.1.0.0</FileVersion>
+		<Version>2.1.0</Version>
 		<GeneratePackageOnBuild>True</GeneratePackageOnBuild>
-		<PackageId>RosSharpMessageGeneration</PackageId>
+		<PackageId>Siemens.RosSharp.MessageGeneration</PackageId>
 		<Title>MessageGeneration</Title>
 		<Authors>ros-sharp</Authors>
 		<EnablePackageValidation>true</EnablePackageValidation>

Libraries/MessageGenerationConsoleTool/MessageGenerationConsoleTool.csproj

@@ -13,8 +13,8 @@
     <Company>Siemens AG</Company>
     <Product>ROS#</Product>
     <Copyright>Copyright © 2024</Copyright>
-    <AssemblyVersion>1.7.0.0</AssemblyVersion>
-    <FileVersion>1.7.0.0</FileVersion>
+    <AssemblyVersion>2.1.0.0</AssemblyVersion>
+    <FileVersion>2.1.0.0</FileVersion>
   </PropertyGroup>
   <ItemGroup>
     <ProjectReference Include="..\MessageGeneration\MessageGeneration.csproj" />

Libraries/RosBridgeClient/Actionlib/ActionClient.cs

@@ -11,8 +11,20 @@ You may obtain a copy of the License at
 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 See the License for the specific language governing permissions and
 limitations under the License.
+
+- Added ROS2 action support:
+    - The Initialize() and Terminate() methods are no longer needed.
+    - The SetActionGoal() method has been added, which allows the user to set the action goal with additional parameters such as feedback, fragment size, and compression.
+    - The SendGoal() method now uses the SendActionGoalRequest() method from the RosSocket class to send the action goal request.
+    - The CancelGoal() method now uses the CancelActionGoalRequest() method from the RosSocket class to cancel the action goal request.
+    - The StatusCallback(), FeedbackCallback(), and ResultCallback() methods have been modified to handle the new message types in ROS2.
+    - The OnStatusUpdated(), OnFeedbackReceived(), and OnResultReceived() methods are still implemented by the user to handle the status, feedback, and result respectively.
+    - The goalStatus, lastResultSuccess, and frameId variables have been added to store the goal status, last result success status, and frame ID respectively.
+
+    © Siemens AG 2025, Mehmet Emre Cakal, [email protected]/[email protected]
 */
 
+#if !ROS2
 using RosSharp.RosBridgeClient.MessageTypes.Actionlib;
 
 namespace RosSharp.RosBridgeClient.Actionlib
@@ -99,3 +111,105 @@ private void ResultCallback(TActionResult actionResult)
         }
     }
 }
+
+#else
+
+using RosSharp.RosBridgeClient.MessageTypes.Action;
+using System;
+
+namespace RosSharp.RosBridgeClient.Actionlib 
+{
+    public abstract class ActionClient<TAction, TActionGoal, TActionResult, TActionFeedback, TGoal, TResult, TFeedback>
+        where TAction : Action<TActionGoal, TActionResult, TActionFeedback, TGoal, TResult, TFeedback>
+        where TActionGoal : ActionGoal<TGoal>
+        where TActionResult : ActionResult<TResult>
+        where TActionFeedback : ActionFeedback<TFeedback>
+        where TGoal : Message
+        where TResult : Message
+        where TFeedback : Message
+    {
+        public RosSocket rosSocket;
+
+        public TAction action;
+        public string actionName;
+        public string actionType;
+
+        public GoalStatus goalStatus;
+        public bool lastResultSuccess;
+        public string frameId;
+
+
+        public void Initialize()
+        {
+            // Not needed anymore
+        }
+
+        public void Terminate()
+        {
+            // Not needed anymore
+        }
+
+        public abstract void SetActionGoal(TGoal goal, bool feedback, int fragmentSize, string compression);
+        public abstract TActionGoal GetActionGoal();
+
+        public void SendGoal()
+        {
+            rosSocket.SendActionGoalRequest<TActionGoal, TGoal, TActionFeedback, TActionResult>(
+                action.action_goal,
+                ResultCallback,
+                FeedbackCallback);
+
+            lastResultSuccess = false;
+        }
+
+        public void CancelGoal(string frameId = null)
+        {
+            rosSocket.CancelActionGoalRequest<TActionResult>(
+                frameId ?? this.frameId,
+                actionName,
+                ResultCallback);
+        }
+
+
+
+        // Implement by user to handle status
+        protected abstract void OnStatusUpdated();
+        private void StatusCallback(GoalStatusArray actionGoalStatusArray)
+        {
+            if (actionGoalStatusArray.status_list.Length > 0)
+            {
+                goalStatus = actionGoalStatusArray.status_list[actionGoalStatusArray.status_list.Length - 1];
+            }
+            OnStatusUpdated();
+        }
+
+        // Implement by user to handle feedback.
+        protected abstract void OnFeedbackReceived();
+        private void FeedbackCallback(TActionFeedback actionFeedbackValues)
+        {
+            action.action_feedback = actionFeedbackValues;
+            frameId = actionFeedbackValues.id;
+            OnFeedbackReceived();
+        }
+
+        // Implement by user to handle result.
+        protected abstract void OnResultReceived();
+        private void ResultCallback(TActionResult actionResult)
+        {
+            if (actionResult.result == false)
+            {
+                Console.WriteLine("Request failed!");
+            }
+            else
+            {
+                action.action_result = actionResult;
+                goalStatus.status = actionResult.status;
+                lastResultSuccess = actionResult.result;
+                frameId = actionResult.id;
+                OnResultReceived();
+            }
+
+        }
+    }
+}
+#endif