cleanup

scenario_execution/README.md

@@ -1,3 +1,7 @@
 # Scenario Execution
 
 The `scenario_execution` package is the ROS2 middleware implementation of the scenario execution. It uses the `py_trees_ros` packages as the `py_trees`'s implementation for ROS2.
+
+It provides the following scenario execution libraries:
+
+- `ros.osc`: ROS specific actions like topic publish and service call.

scenario_execution/package.xml

@@ -3,7 +3,7 @@
 <package format="3">
   <name>scenario_execution</name>
   <version>1.0.0</version>
-  <description>ROS Scenario Execution</description>
+  <description>Scenario Execution for ROS</description>
   <author email="[email protected]">Intel Labs</author>
   <maintainer email="[email protected]">Intel Labs</maintainer>
   <license file="../LICENSE">Apache-2.0</license>

scenario_execution/scenario_execution/actions/__init__.py

@@ -13,5 +13,3 @@
 # and limitations under the License.
 #
 # SPDX-License-Identifier: Apache-2.0
-
-""" Entry for module action plugins """

scenario_execution/scenario_execution/actions/init_nav2.py

@@ -14,8 +14,6 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-""" Class for initializing nav2 by setting an initial pose and activate required nodes """
-
 from enum import Enum
 
 
@@ -54,7 +52,8 @@ class InitNav2State(Enum):
 
 class InitNav2(py_trees.behaviour.Behaviour):
     """
-    Class to initialize nav2
+    Class for initializing nav2 by setting an initial pose and activate required nodes """
+
     """
 
     def __init__(self, name, associated_actor, initial_pose: list, base_frame_id: str, wait_for_initial_pose: bool, use_initial_pose: bool, namespace_override: str):

scenario_execution/scenario_execution/actions/nav2_common.py

@@ -1,3 +1,4 @@
+# Copyright 2021 Samsung Research America
 # Copyright (C) 2024 Intel Corporation
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -14,8 +15,6 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-""" Subclass of BasicNavigator to support namespaces """
-
 from geometry_msgs.msg import PoseStamped, PoseWithCovarianceStamped
 from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy
 from rclpy.qos import QoSProfile, QoSReliabilityPolicy

scenario_execution/scenario_execution/actions/nav_through_poses.py

@@ -14,8 +14,6 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-""" Scenario execution plugin for navigating through poses """
-
 from enum import Enum
 
 from rclpy.node import Node

scenario_execution/scenario_execution/actions/nav_to_pose.py

@@ -14,8 +14,6 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-""" Scenario execution plugin for navigating to pose """
-
 from enum import Enum
 
 from rclpy.node import Node

scenario_execution/scenario_execution/actions/odometry_distance_traveled.py

@@ -14,7 +14,6 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-""" Scenario execution plugin for waiting for a certain covered distance, based on odometry """
 from math import sqrt
 import rclpy
 from rclpy.logging import get_logger

scenario_execution/scenario_execution/actions/py_trees_ros_common.py

@@ -14,8 +14,6 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-""" Class for recording a ros bag """
-
 import py_trees
 import py_trees_ros  # pylint: disable=import-error
 import typing
@@ -26,7 +24,6 @@ class SubscriberHandler(py_trees_ros.subscribers.Handler):
     """
     overrides Handler
     """
-
     def __init__(self,
                  name: str,
                  topic_name: str,

scenario_execution/scenario_execution/actions/ros_bag_record.py

@@ -14,8 +14,6 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-""" Class for recording a ros bag """
-
 import os
 from datetime import datetime
 from enum import Enum

scenario_execution/scenario_execution/actions/ros_log_check.py

@@ -14,8 +14,6 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-""" Scenario execution plugin to wait for a specific string in the ros log """
-
 import py_trees
 from rclpy.qos import QoSProfile, DurabilityPolicy, HistoryPolicy
 import rclpy
@@ -26,9 +24,6 @@
 class RosLogCheck(py_trees.behaviour.Behaviour):
     """
     Class for scanning the ros log for specific content
-
-    Args:
-        values [str]: Values to look for
     """
 
     def __init__(self, name, values: list):

scenario_execution/scenario_execution/actions/ros_service_call.py

@@ -14,7 +14,6 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-""" Scenario execution plugin to put ros data into the blackboard """
 from ast import literal_eval
 import importlib
 from enum import Enum
@@ -37,11 +36,6 @@ class ServiceCallActionState(Enum):
 class RosServiceCall(py_trees.behaviour.Behaviour):
     """
     ros service call behavior
-
-    Args:
-        service_name: name of the topic to connect to
-        service_type: The service type
-        call: call content
     """
 
     def __init__(self, name, service_name: str, service_type: str, data: str):

scenario_execution/scenario_execution/actions/ros_set_node_parameter.py

@@ -14,9 +14,6 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-"""
-Behavior to set a ros node parameter
-"""
 from ast import literal_eval
 
 from .ros_service_call import RosServiceCall
@@ -26,11 +23,6 @@
 class RosSetNodeParameter(RosServiceCall):
     """
     class for setting a node parameter
-
-    Args:
-        node_name: [str]: name of the node
-        parameter_name: [str]: name of the parameter
-        parameter_value: [str]: new value of the parameter
     """
 
     def __init__(self, name, node_name: str, parameter_name: str, parameter_value: str):

scenario_execution/scenario_execution/actions/ros_topic_check_data.py

@@ -14,30 +14,15 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-""" Scenario execution plugin to check data on a ros topic """
-
 import importlib
 import py_trees_ros  # pylint: disable=import-error
-from scenario_execution.action_plugins.conversions import get_qos_preset_profile, \
+from scenario_execution.actions.conversions import get_qos_preset_profile, \
     get_comparison_operator, get_clearing_policy
 
 
 class RosTopicCheckData(py_trees_ros.subscribers.CheckData):
     """
     Class to check if the message on ROS topic equals to the target message
-
-    Args:
-        topic_name: name of the topic to connect to
-        topic_type: class of the message type (e.g. std_msgs.msg.String)
-        qos_profile: qos profile for the subscriber
-        variable_name: name of the variable to check
-        expected_value: expected value of the variable
-        comparison_operator: one from the python `operator module`_
-        fail_if_no_data: py_trees.common.Status.FAILURE instead
-                         of py_trees.common.Status.RUNNING if there is no data yet
-        fail_if_bad_comparison: py_trees.common.Status.FAILURE instead of
-                         py_trees.common.Status.RUNNING if comparison failed
-        clearing_policy: when to clear the data
     """
 
     def __init__(self,

scenario_execution/scenario_execution/actions/ros_topic_publish.py

@@ -14,9 +14,6 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-"""
-Behavior to publish a msg on ROS topic
-"""
 import importlib
 from ast import literal_eval
 
@@ -26,18 +23,12 @@
 import py_trees
 from py_trees.common import Status
 
-from scenario_execution.action_plugins.conversions import get_qos_preset_profile
+from scenario_execution.actions.conversions import get_qos_preset_profile
 
 
 class RosTopicPublish(py_trees.behaviour.Behaviour):
     """
     class for publish a message on a ROS topic
-
-    Args:
-        topic_name [str]: name of the topic to connect to
-        topic_type [str]: class of the message type (e.g. std_msgs.msg.String)
-        qos_profile [str]: qos profile for the subscriber
-        value [str]: expected value of the variable
     """
 
     def __init__(self, name, topic_type: str, topic_name: str, qos_profile: str, value: str

scenario_execution/scenario_execution/actions/ros_topic_wait_for_data.py

@@ -14,11 +14,9 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-""" Scenario execution plugin to wait for data on a ros topic """
-
 import importlib
 import py_trees
-from scenario_execution.action_plugins.conversions import get_qos_preset_profile, get_clearing_policy
+from scenario_execution.actions.conversions import get_qos_preset_profile, get_clearing_policy
 import typing
 import rclpy.qos
 from .py_trees_ros_common import SubscriberHandler

scenario_execution/scenario_execution/actions/ros_topic_wait_for_topics.py

@@ -14,18 +14,13 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-""" Scenario execution plugin to wait for ros topics to get available """
-
 import py_trees
 from rclpy.node import Node
 
 
 class RosTopicWaitForTopics(py_trees.behaviour.Behaviour):
     """
     Class to check if ROS topic are available
-
-    Args:
-        topics[str]: name of the topics to get available
     """
 
     def __init__(self, topics: list):

scenario_execution/scenario_execution/actions/tf_close_to.py

@@ -14,8 +14,6 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-""" Module for checking a robot is close to a reference point using localization"""
-
 from math import sqrt
 
 import rclpy
@@ -28,18 +26,12 @@
 from tf2_ros.buffer import Buffer
 from tf2_ros import TransformException  # pylint: disable= no-name-in-module
 
-from scenario_execution.action_plugins.nav2_common import NamespacedTransformListener
+from scenario_execution.actions.nav2_common import NamespacedTransformListener
 
 
 class TfCloseTo(py_trees.behaviour.Behaviour):
     """
     class for distance condition in ROS Gazebo simulation
-
-    Args:
-        namespace [str]: name of the robot
-        reference_point [str]: target point to measure distance from \
-            in the form of 3 number array: [pos_x, pos_y, pos_z]
-        threshold [str]: threshold to the reference point
     """
 
     def __init__(