diff --git a/hbp_nrp_virtual_coach/hbp_nrp_virtual_coach/simulation.py b/hbp_nrp_virtual_coach/hbp_nrp_virtual_coach/simulation.py
index dee0712e57c3b09118d29288d2335f337044385a..874092760907553b472cd33e692ddf3bf368a404 100644
--- a/hbp_nrp_virtual_coach/hbp_nrp_virtual_coach/simulation.py
+++ b/hbp_nrp_virtual_coach/hbp_nrp_virtual_coach/simulation.py
@@ -44,6 +44,9 @@ from future import standard_library
from hbp_nrp_virtual_coach.requests_client import RequestsClient
from hbp_nrp_virtual_coach.config import Config
+
+import roslibpy
+
try:
from urllib2 import HTTPError
except ImportError:
@@ -79,6 +82,8 @@ class Simulation(object):
self.__experiment_id = None
self.__previous_subtask = None
+
+ self.__ros_client = None
self.__status_sub = None
self.__error_sub = None
self.__status_callbacks = []
@@ -164,22 +169,22 @@ class Simulation(object):
traceback.print_exc()
return False
- # pylint: disable=import-error
- try:
- import rospy
- from std_msgs.msg import String
- from cle_ros_msgs.msg import CLEError
- # register for status updates, currently only support localhost but in the future
- # we may need to set ROS_MASTER_URI to the simulation backend
- self.__status_sub = rospy.Subscriber(self.__config['ros']['status'],
- String,
- self.__on_status)
- self.__error_sub = rospy.Subscriber(self.__config['ros']['error'],
- CLEError,
- self.__on_error)
- except ImportError:
- self.__logger.warn(
- 'ROS is not installed, some functionality will be disabled.')
+ # Connect to rosbridge and create subscribers
+ self.__ros_client = roslibpy.Ros(host=self._get_rosbridge_ws())
+ self.__ros_client.run()
+
+ if self.__ros_client.is_connected:
+ roslibpy.Topic(self.__ros_client, self.__config['ros']['status'], 'std_msgs/String')
+ self.__status_sub.subscribe(self.__on_status)
+
+ self.__error_sub = roslibpy.Topic(self.__ros_client, self.__config['ros']['error'],
+ 'cle_ros_msgs/CLEError')
+ self.__error_sub.subscribe(self.__on_error)
+ else:
+ self.__ros_client.terminate()
+ self.__ros_client = None
+ self.__logger.info('Connection with rosbridge could not be stablished. \
+ Some functionalities will be disabled')
# store server information, experiment_id and the endpoint url for this server/simulation id
self.__server = server
@@ -190,6 +195,16 @@ class Simulation(object):
self.__logger.info('Ready.')
return True
+ def _get_rosbridge_ws(self):
+ """
+ Returns the rosbridge websocket address
+ :return:
+ """
+ rbridge = self.__config['proxy-services']['rosbridge']
+ if rbridge.find('http://') == 0:
+ rbridge = rbridge.split('http://')[1]
+ return 'ws://' + rbridge
+
def start(self):
"""
Attempt to start the simulation by transitioning to the "started" state.
@@ -207,11 +222,6 @@ class Simulation(object):
Attempt to stop the simulation by transitioning to the "stopped" state.
"""
- # unregister (non-status) subscribers before shutting down
- if self.__error_sub is not None:
- self.__error_sub.unregister()
- self.__error_sub = None
-
self.__set_state('stopped')
def register_status_callback(self, callback):
@@ -231,7 +241,7 @@ class Simulation(object):
# make sure ROS is enabled (this is only a valid check after simulation is created)
if not self.__status_sub:
raise Exception(
- "Unable to register status callback, ROS is not available.")
+ "Unable to register status callback, rosbridge connection is not available.")
# make sure the callback is not registered already, warn the user if it is
if callback in self.__status_callbacks:
@@ -319,25 +329,22 @@ class Simulation(object):
for callback in self.__status_callbacks:
callback(status)
- # if the simulation has stopped, unregister this listener - this mechanism relies on the
+ # if the simulation has stopped, close rosbridge connection - this mechanism relies on the
# simulation state messages always being accurate for now, but this may not be the case
# we should have a state machine that will check if a simulation is done and shutdown
# this simulation instance cleanly
if status['state'] in ['stopped', 'halted']:
+ # clear all callbacks, this simulation instance should not be reused
+ self.__status_callbacks[:] = []
+ self.__logger.info('Simulation has been stopped.')
- # simulation complete, no more status events
- if self.__status_sub is not None:
- self.__status_sub.unregister()
+ # close rosbridge connection
+ if self.__ros_client:
+ self.__ros_client.terminate()
+ self.__ros_client = None
self.__status_sub = None
-
- # if stop was called by the frontend or timeout, the error sub will still exist
- if self.__error_sub is not None:
- self.__error_sub.unregister()
self.__error_sub = None
- # clear all callbacks, this simulation instance should not be reused
- self.__status_callbacks[:] = []
- self.__logger.info('Simulation has been stopped.')
def get_state(self):
"""
diff --git a/hbp_nrp_virtual_coach/hbp_nrp_virtual_coach/virtual_coach.py b/hbp_nrp_virtual_coach/hbp_nrp_virtual_coach/virtual_coach.py
index 1095f39f3a45368ba367fdeec66ebb02053abdcc..a9334267cafc9c283ea0bf0276bc95375e9cdc21 100644
--- a/hbp_nrp_virtual_coach/hbp_nrp_virtual_coach/virtual_coach.py
+++ b/hbp_nrp_virtual_coach/hbp_nrp_virtual_coach/virtual_coach.py
@@ -102,27 +102,6 @@ class VirtualCoach(object):
assert isinstance(oidc_token, (string_types, type(None)))
assert isinstance(storage_username, (string_types, type(None)))
- # ROS node and logger configuration only if rospy is available
- # pylint: disable=import-error
- try:
- # initialize the common ROS node for all simulations
- import rospy
- import sys
- rospy.init_node('virtual_coach')
-
- # initializing the ROS node overrides the root logger, restore it
- console_handler = logging.StreamHandler(sys.stdout)
- console_handler.setFormatter(logging.Formatter(logger_format))
- logging.root.addHandler(console_handler)
- logging.root.setLevel(logging.INFO)
-
- # turn down the rospy logging verbosity to minimum
- rospy_logger = logging.getLogger('rospy')
- rospy_logger.setLevel(logging.CRITICAL)
-
- except ImportError:
- logger.warn('ROS is not installed, some functionality will be disabled.')
-
# parse and load the config file before any OIDC actions
self.__config = Config(environment)
self.__oidc_username = oidc_username
diff --git a/hbp_nrp_virtual_coach/requirements.txt b/hbp_nrp_virtual_coach/requirements.txt
index 371bc865ccb21aee6de16e6a3c7b8f40738bf40e..64768efc55fb761b66084a82d3362a478983ca13 100644
--- a/hbp_nrp_virtual_coach/requirements.txt
+++ b/hbp_nrp_virtual_coach/requirements.txt
@@ -7,4 +7,5 @@ pandas==1.0.5
jupyter==1.0.0
requests
ipykernel==5.3.2
-mechanize
\ No newline at end of file
+mechanize
+roslibpy==1.1.0
\ No newline at end of file