Pass ros_distro in CMakeLists.txt instaed of checking it in jinja_gen…

….py (PX4#712)

* pass ros distro in CMakeList instead of checking it in jinja_gen.py

* generate ROS model with option GENERATE_ROS_MODELS. change option BUILD_ROS_INTERFACE to BUILD_ROS_PLUGINS

* argument build_ros_interface change to generate_ros_models, remove ros_distro and just check ros_version

CMakeLists.txt

@@ -37,7 +37,8 @@ include(GNUInstallDirs)
 #######################
 
 option(BUILD_GSTREAMER_PLUGIN "enable gstreamer plugin" ON)
-option(BUILD_ROS_INTERFACE "Enable building ROS dependent plugins" OFF)
+option(BUILD_ROS_PLUGINS "Enable building ROS dependent plugins" OFF)
+option(GENERATE_ROS_MODELS "Generate model sdf for ROS environment" OFF)
 
 option(SEND_VISION_ESTIMATION_DATA "Send Mavlink VISION_POSITION_ESTIMATE msgs" OFF)
 option(SEND_ODOMETRY_DATA "Send Mavlink ODOMETRY msgs" OFF)
@@ -103,7 +104,7 @@ add_subdirectory( external/OpticalFlow OpticalFlow )
 set( OpticalFlow_LIBS "OpticalFlow" )
 
 # for ROS subscribers and publishers
-if (BUILD_ROS_INTERFACE)
+if (BUILD_ROS_PLUGINS)
   find_package(geometry_msgs REQUIRED)
   find_package(roscpp REQUIRED)
   find_package(sensor_msgs REQUIRED)
@@ -270,12 +271,21 @@ function(glob_generate target file_glob)
 		set(out_file ${CMAKE_CURRENT_SOURCE_DIR}/${file_name})
 		string(REGEX REPLACE ".sdf" ".sdf" out_file ${out_file})
 		if (${file_ext} STREQUAL "jinja")
-			add_custom_command(OUTPUT ${out_file}
-				COMMAND
-					${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py ${in_file} ${CMAKE_CURRENT_SOURCE_DIR}
-				DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py ${in_file}
-				VERBATIM
-				)
+			if(GENERATE_ROS_MODELS)
+				add_custom_command(OUTPUT ${out_file}
+        	                	COMMAND
+                	                        ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py ${in_file} ${CMAKE_CURRENT_SOURCE_DIR} --generate_ros_models true
+                        	        DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py ${in_file}
+                                	VERBATIM
+	                                )
+			else()
+				add_custom_command(OUTPUT ${out_file}
+	                                COMMAND
+        	                                ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py ${in_file} ${CMAKE_CURRENT_SOURCE_DIR}
+                	                DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/scripts/jinja_gen.py ${in_file}
+                        	        VERBATIM
+                                	)
+			endif()
 			list(APPEND gen_files_${target} ${out_file})
 			string(REGEX REPLACE "${CMAKE_CURRENT_SOURCE_DIR}/" "" gitignore_str ${in_file})
 			string(REGEX REPLACE ".jinja" "" gitignore_str ${gitignore_str})
@@ -392,9 +402,9 @@ foreach(plugin ${plugins})
 endforeach()
 target_link_libraries(gazebo_opticalflow_plugin ${OpticalFlow_LIBS})
 
-# If BUILD_ROS_INTERFACE set to ON, build plugins that have ROS dependencies
+# If BUILD_ROS_PLUGINS set to ON, build plugins that have ROS dependencies
 # Current plugins that can be used with ROS interface: gazebo_motor_failure_plugin
-if (BUILD_ROS_INTERFACE)
+if (BUILD_ROS_PLUGINS)
   add_library(gazebo_motor_failure_plugin SHARED src/gazebo_motor_failure_plugin.cpp)
   target_link_libraries(gazebo_motor_failure_plugin ${GAZEBO_libraries} ${roscpp_LIBRARIES})
   list(APPEND plugins gazebo_motor_failure_plugin)

README.md

@@ -162,7 +162,7 @@ With *catkin*, the unit tests are enabled by default.
 
 ```bash
 # After setting up the catkin workspace
-catkin build -j4 -l4 -DBUILD_ROS_INTERFACE=ON
+catkin build -j4 -l4 -DBUILD_ROS_PLUGINS=ON
 cd build/mavlink_sitl_gazebo/
 catkin run_tests
 ```

models/depth_camera/depth_camera.sdf.jinja

@@ -25,7 +25,7 @@
         </geometry>
       </visual>
       <sensor name="depth_camera" type="depth">
-        {% if ros2_distro in ['dashing', 'eloquent', 'foxy'] %}
+        {% if ros_version == 2 %}
         <always_on>0</always_on>
         <update_rate>20</update_rate>
         <camera name="camera_name">

scripts/jinja_gen.py

@@ -13,6 +13,13 @@ def get_file_contents(filepath):
     with open(filepath, 'rb') as f:
         return f.read()
 
+def str2bool(v):
+    if v.lower() in ('yes', 'true', 't', 'y', '1'):
+        return True
+    elif v.lower() in ('no', 'false', 'f', 'n', '0'):
+        return False
+    else:
+        raise argparse.ArgumentTypeError('Boolean value expected.')
 
 if __name__ == "__main__":
     parser = argparse.ArgumentParser()
@@ -31,20 +38,16 @@ def get_file_contents(filepath):
     parser.add_argument('--gst_udp_port', default=5600, help="Gstreamer UDP port for SITL")
     parser.add_argument('--video_uri', default=5600, help="Mavlink camera URI for SITL")
     parser.add_argument('--mavlink_cam_udp_port', default=14530, help="Mavlink camera UDP port for SITL")
-    parser.add_argument('--ros2-distro', default='', dest='ros2_distro', type=str,
-                    help="ROS2 distro, only required if generating the agent for usage with ROS2 nodes, by default empty")
+    parser.add_argument('--generate_ros_models', default=False, dest='generate_ros_models', type=str2bool,
+                    help="required if generating the agent for usage with ROS nodes, by default false")
     args = parser.parse_args()
     env = jinja2.Environment(loader=jinja2.FileSystemLoader(args.env_dir))
     template = env.get_template(os.path.relpath(args.filename, args.env_dir))
 
-    # get ROS 2 version, if exists
-    ros2_distro = ''
-    ros_version = os.environ.get('ROS_VERSION')
-    if ros_version == '2':
-        if args.ros2_distro != '':
-            ros2_distro = args.ros2_distro
-        else:
-            ros2_distro = os.environ.get('ROS_DISTRO')
+    # get ROS version, if generate_ros_models is true.
+    ros_version = 0
+    if args.generate_ros_models:
+        ros_version = os.environ.get('ROS_VERSION')
 
     # create dictionary with useful modules etc.
     try:
@@ -66,7 +69,7 @@ def get_file_contents(filepath):
          'video_uri': args.video_uri, \
          'mavlink_cam_udp_port': args.mavlink_cam_udp_port, \
          'hil_mode': args.hil_mode, \
-         'ros2_distro': ros2_distro}
+         'ros_version': ros_version}
 
     result = template.render(d)