add file and folder structure for ros2_python_pkg template

copier.yml

@@ -12,12 +12,12 @@ template:
   help: Template
   type: str
   default: ros2_cpp_pkg
-  choices: [ros2_cpp_pkg, ros2_interfaces_pkg]
+  choices: [ros2_cpp_pkg, ros2_interfaces_pkg, ros2_python_pkg]
 
 package_name:
   help: Package name
   type: str
-  placeholder: ros2_cpp_pkg
+  placeholder: "{{ template }}"
   validator: "{% if not package_name %}Package name is required{% endif %}"
 
 description:
@@ -53,13 +53,13 @@ license:
 
 node_name:
   help: Node name
-  when: "{{ template == 'ros2_cpp_pkg' }}"
+  when: "{{ template == 'ros2_cpp_pkg' or template == 'ros2_python_pkg' }}"
   type: str
   default: "{{ package_name }}"
 
 node_class_name:
   help: Class name of node
-  when: "{{ template == 'ros2_cpp_pkg' }}"
+  when: "{{ template == 'ros2_cpp_pkg' or template == 'ros2_python_pkg' }}"
   type: str
   default: "{{ node_name | to_camel }}"
 
@@ -77,56 +77,56 @@ is_lifecycle:
 
 has_launch_file:
   help: Add a launch file?
-  when: "{{ template == 'ros2_cpp_pkg' }}"
+  when: "{{ template == 'ros2_cpp_pkg' or template == 'ros2_python_pkg' }}"
   type: bool
   default: true
 
 launch_file_type:
   help: Type of launch file
-  when: "{{ template == 'ros2_cpp_pkg' and has_launch_file }}"
+  when: "{{ template == 'ros2_cpp_pkg' or template == 'ros2_python_pkg' }}"
   type: str
   default: py
   choices: [py, xml, yml]
 
 has_params:
   help: Add parameter loading?
-  when: "{{ template == 'ros2_cpp_pkg' }}"
+  when: "{{ template == 'ros2_cpp_pkg' or template == 'ros2_python_pkg' }}"
   type: bool
   default: true
 
 has_subscriber:
   help: Add a subscriber?
-  when: "{{ template == 'ros2_cpp_pkg' }}"
+  when: "{{ template == 'ros2_cpp_pkg' or template == 'ros2_python_pkg' }}"
   type: bool
   default: true
 
 has_publisher:
   help: Add a publisher?
-  when: "{{ template == 'ros2_cpp_pkg' }}"
+  when: "{{ template == 'ros2_cpp_pkg' or template == 'ros2_python_pkg' }}"
   type: bool
   default: true
 
 has_service_server:
   help: Add a service server?
-  when: "{{ template == 'ros2_cpp_pkg' }}"
+  when: "{{ template == 'ros2_cpp_pkg' or template == 'ros2_python_pkg' }}"
   type: bool
   default: false
 
 has_action_server:
   help: Add an action server?
-  when: "{{ template == 'ros2_cpp_pkg' }}"
+  when: "{{ template == 'ros2_cpp_pkg' or template == 'ros2_python_pkg' }}"
   type: bool
   default: false
 
 has_timer:
   help: Add a timer callback?
-  when: "{{ template == 'ros2_cpp_pkg' }}"
+  when: "{{ template == 'ros2_cpp_pkg' or template == 'ros2_python_pkg' }}"
   type: bool
   default: false
 
 auto_shutdown:
   help: Automatically shutdown the node after launch (useful in CI/CD)?
-  when: "{{ template == 'ros2_cpp_pkg' }}"
+  when: "{{ template == 'ros2_cpp_pkg' or template == 'ros2_python_pkg' }}"
   when: false
   type: bool
   default: false

templates/ros2_python_pkg/{% if has_action_server %}{{ package_name }}_interfaces{% endif %}/CMakeLists.txt.jinja

@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.8)
+project({{ package_name }}_interfaces)
+
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  action/Fibonacci.action
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()

templates/ros2_python_pkg/{% if has_action_server %}{{ package_name }}_interfaces{% endif %}/action/Fibonacci.action

@@ -0,0 +1,5 @@
+int32 order
+---
+int32[] sequence
+---
+int32[] partial_sequence

templates/ros2_python_pkg/{% if has_action_server %}{{ package_name }}_interfaces{% endif %}/package.xml.jinja

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+
+  <name>{{ package_name }}_interfaces</name>
+  <version>0.0.0</version>
+  <description>ROS interface definitions for {{ package_name }}</description>
+
+  <maintainer email="{{ maintainer_email }}">{{ maintainer }}</maintainer>
+  <author email="{{ author_email }}">{{ author }}</author>
+
+  <license>{{ license }}</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+
+</package>

templates/ros2_python_pkg/{{ package_name }}/package.xml.jinja

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+
+  <name>{{ package_name }}</name>
+  <version>0.0.0</version>
+  <description>{{ description }}</description>
+
+  <maintainer email="{{ maintainer_email }}">{{ maintainer }}</maintainer>
+  <author email="{{ author_email }}">{{ author }}</author>
+
+  <license>{{ license }}</license>
+
+  <buildtool_depend>ament_python</buildtool_depend>
+
+  <depend>rclpy</depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+
+</package>

templates/ros2_python_pkg/{{ package_name }}/setup.cfg.jinja

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/{{ package_name }}
+[install]
+install_scripts=$base/lib/{{ package_name }}

templates/ros2_python_pkg/{{ package_name }}/setup.py.jinja

@@ -0,0 +1,29 @@
+import os
+from glob import glob
+from setuptools import setup
+
+package_name = '{{ package_name }}'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[('share/ament_index/resource_index/packages',
+                 ['resource/' + package_name]),
+                (os.path.join('share', package_name), ['package.xml']),
+                (os.path.join('share', package_name,
+                              'launch'), glob('launch/*launch.[pxy][yma]*')),
+                (os.path.join('share', package_name,
+                              'config'), glob('config/*.yaml'))],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='root',
+    maintainer_email='root@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts':
+        ['{{ node_name }} = {{ package_name }}.{{ node_name }}:main'],
+    },
+)

templates/ros2_python_pkg/{{ package_name }}/{% if has_docker_ros %}.gitlab-ci.yml{% endif %}.jinja

@@ -0,0 +1,8 @@
+include:
+  - remote: https://raw.githubusercontent.com/ika-rwth-aachen/docker-ros/main/.gitlab-ci/docker-ros.yml
+
+variables:
+  PLATFORM: amd64,arm64
+  TARGET: dev,run
+  BASE_IMAGE: rwthika/ros2:latest
+  COMMAND: ros2 run {{ package_name }} {{ node_name }}

templates/ros2_python_pkg/{{ package_name }}/{% if has_launch_file %}launch{% endif %}/{% if launch_file_type == 'py' %}{{ node_name }}_launch.py{% endif %}.jinja

@@ -0,0 +1,42 @@
+#!/usr/bin/env python3
+
+import os
+
+from ament_index_python import get_package_share_directory
+from launch import LaunchDescription
+{% if is_lifecycle %}
+from launch.actions import DeclareLaunchArgument, GroupAction
+from launch.conditions import LaunchConfigurationNotEquals
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import LifecycleNode, SetParameter
+{% else %}
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+{% endif %}
+
+
+def generate_launch_description():
+
+    arg_name = DeclareLaunchArgument("name", default_value="{{ node_name }}", description="node name")
+    arg_namespace = DeclareLaunchArgument("namespace", default_value="", description="node namespace")
+
+    node = Node(
+        package="{{ package_name }}",
+        executable="{{ node_name }}",
+        namespace=LaunchConfiguration("namespace"),
+        name=LaunchConfiguration("name"),
+{% if has_params %}
+        parameters=[
+            os.path.join(get_package_share_directory("{{ package_name }}"), "config", "params.yml"),
+        ],
+{% endif %}
+        output="screen",
+        emulate_tty=True,
+    )
+
+    return LaunchDescription([
+        arg_name,
+        arg_namespace,
+        node
+    ])

templates/ros2_python_pkg/{{ package_name }}/{% if has_launch_file %}launch{% endif %}/{% if launch_file_type == 'xml' %}{{ node_name }}_launch.xml{% endif %}.jinja

@@ -0,0 +1,12 @@
+<launch>
+
+  <arg name="name" default="{{ node_name }}" description="node name" />
+  <arg name="namespace" default="" description="node namespace" />
+
+  <node pkg="{{ package_name }}" exec="{{ node_name }}" namespace="$(var namespace)" name="$(var name)" output="screen">
+{% if has_params %}
+    <param from="$(find-pkg-share {{ package_name }})/config/params.yml" />
+{% endif %}
+  </node>
+
+</launch>

templates/ros2_python_pkg/{{ package_name }}/{% if has_launch_file %}launch{% endif %}/{% if launch_file_type == 'yml' %}{{ node_name }}_launch.yml{% endif %}.jinja

@@ -0,0 +1,20 @@
+launch:
+  - arg:
+      name: name
+      default: {{ node_name }}
+      description: node name
+  - arg:
+      name: namespace
+      default: ""
+      description: node namespace
+  - node:
+      pkg: {{ package_name }}
+      exec: {{ node_name }}
+      namespace: "$(var namespace)"
+      name: "$(var name)"
+      output: screen
+{% if has_params %}
+      param:
+        - name: param
+          value: 1.0
+{% endif %}

templates/ros2_python_pkg/{{ package_name }}/{% if has_params %}config{% endif %}/params.yml.jinja

@@ -0,0 +1,3 @@
+/**/*:
+  ros__parameters:
+    param: 1.0

templates/ros2_python_pkg/{{ package_name }}/{{ package_name }}/{{ node_name }}.py.jinja

@@ -0,0 +1,19 @@
+import rclpy
+
+from rclpy import Node
+
+
+class {{ node_class_name }}(Node):
+    def __init__(self):
+       pass
+
+
+def main():
+
+    rclpy.init()
+    rclpy.spin({{ node_class_name }}())
+    rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()