remove ros domain id manipulation

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>

Author: aaronchongth

nexus_demos/launch/inter_workcell.launch.py

@@ -108,7 +108,6 @@ def activate_node(target_node: LifecycleNode, depend_node: LifecycleNode = None)
 
 
 def launch_setup(context, *args, **kwargs):
-    ros_domain_id = LaunchConfiguration("ros_domain_id")
     use_fake_hardware = LaunchConfiguration("use_fake_hardware")
     use_multiple_transporters = LaunchConfiguration("use_multiple_transporters")
     zenoh_config_package = LaunchConfiguration("zenoh_config_package")
@@ -245,7 +244,6 @@ def launch_setup(context, *args, **kwargs):
                 launch_arguments={
                     "zenoh_config_package": zenoh_config_package,
                     "zenoh_router_config_filename": zenoh_router_config_filename,
-                    "ros_domain_id": ros_domain_id.perform(context),
                 }.items(),
             )
         ]
@@ -259,7 +257,6 @@ def launch_setup(context, *args, **kwargs):
     )
 
     return [
-        SetEnvironmentVariable("ROS_DOMAIN_ID", ros_domain_id),
         zenoh_router,
         SetEnvironmentVariable(
             "ZENOH_SESSION_CONFIG_URI",
@@ -288,11 +285,6 @@ def generate_launch_description():
 
     return launch.LaunchDescription(
         [
-            DeclareLaunchArgument(
-                "ros_domain_id",
-                default_value="0",
-                description="ROS_DOMAIN_ID environment variable",
-            ),
             DeclareLaunchArgument(
                 "use_fake_hardware",
                 default_value="true",

nexus_demos/launch/launch.py

@@ -51,27 +51,8 @@ def launch_setup(context, *args, **kwargs):
     run_workcell_2 = LaunchConfiguration("run_workcell_2")
     workcell_2_remap_task_types = LaunchConfiguration("workcell_2_remap_task_types")
 
-    inter_workcell_domain_id = 0
-    workcell_1_domain_id = 0
-    workcell_2_domain_id = 0
     log_msg = ""
 
-    if "ROS_DOMAIN_ID" in os.environ:
-        inter_workcell_domain_id = int(os.environ["ROS_DOMAIN_ID"])
-        workcell_1_domain_id = int(os.environ["ROS_DOMAIN_ID"])
-        workcell_2_domain_id = int(os.environ["ROS_DOMAIN_ID"])
-        if not 0 < inter_workcell_domain_id < 230:
-            log_msg += (
-                "ROS_DOMAIN_ID not within the range of 0 to 230, setting it to 0. \n"
-            )
-            inter_workcell_domain_id = 0
-
-    log_msg += f"Inter-workcell has ROS_DOMAIN_ID {inter_workcell_domain_id}\n"
-    if run_workcell_1.perform(context).lower() == "true":
-        log_msg += f"Workcell 1 has ROS_DOMAIN_ID {workcell_1_domain_id}\n"
-    if run_workcell_2.perform(context).lower() == "true":
-        log_msg += f"Workcell 2 has ROS_DOMAIN_ID {workcell_2_domain_id}\n"
-
     main_bt_filename = "main.xml"
     remap_task_types = """{
                         pick_and_place: [place_on_amr, place_on_conveyor, pick_from_amr, pick_from_conveyor],
@@ -93,7 +74,6 @@ def launch_setup(context, *args, **kwargs):
                     )
                 ],
                 launch_arguments={
-                    "ros_domain_id": str(inter_workcell_domain_id),
                     "zenoh_config_package": "nexus_demos",
                     "zenoh_router_config_filename": "config/zenoh/inter_workcell_router_config.json5",
                     "zenoh_session_config_filename": "config/zenoh/inter_workcell_session_config.json5",
@@ -129,7 +109,6 @@ def launch_setup(context, *args, **kwargs):
                     "remap_task_types": workcell_1_remap_task_types,
                     "task_checker_plugin": "nexus::task_checkers::FilepathChecker",
                     "max_jobs": max_workcell_jobs,
-                    "ros_domain_id": str(workcell_1_domain_id),
                     "headless": headless,
                     "controller_config_package": "nexus_demos",
                     "planner_config_package": "nexus_demos",
@@ -169,7 +148,6 @@ def launch_setup(context, *args, **kwargs):
                 launch_arguments={
                     "zenoh_config_package": "nexus_demos",
                     "zenoh_router_config_filename": "config/zenoh/workcell_1_connection_router_config.json5",
-                    "ros_domain_id": str(workcell_1_domain_id),
                 }.items(),
                 condition=IfCondition(run_workcell_1),
             )
@@ -197,7 +175,6 @@ def launch_setup(context, *args, **kwargs):
                     "remap_task_types": workcell_2_remap_task_types,
                     "task_checker_plugin": "nexus::task_checkers::FilepathChecker",
                     "max_jobs": max_workcell_jobs,
-                    "ros_domain_id": str(workcell_2_domain_id),
                     "headless": headless,
                     "controller_config_package": "nexus_demos",
                     "planner_config_package": "nexus_demos",
@@ -237,7 +214,6 @@ def launch_setup(context, *args, **kwargs):
                 launch_arguments={
                     "zenoh_config_package": "nexus_demos",
                     "zenoh_router_config_filename": "config/zenoh/workcell_2_connection_router_config.json5",
-                    "ros_domain_id": str(workcell_2_domain_id),
                 }.items(),
                 condition=IfCondition(run_workcell_2),
             )

nexus_demos/launch/workcell.launch.py

@@ -37,14 +37,13 @@
 from typing import List
 
 
-def activate_node_service(node_name, ros_domain_id):
+def activate_node_service(node_name):
     activate_node_proc = ExecuteProcess(
         cmd=[
             'python3',
             [FindPackageShare('nexus_demos'), "/scripts/activate_node.py"],
             node_name,
-        ],
-        additional_env={'ROS_DOMAIN_ID': ros_domain_id},
+        ]
     )
 
     def check_activate_return_code(event, _):
@@ -77,7 +76,6 @@ def launch_setup(context, *args, **kwargs):
     bt_path = LaunchConfiguration("bt_path")
     task_checker_plugin = LaunchConfiguration("task_checker_plugin")
     max_jobs = LaunchConfiguration("max_jobs")
-    ros_domain_id = LaunchConfiguration("ros_domain_id")
     headless = LaunchConfiguration("headless")
     controller_config_package = LaunchConfiguration("controller_config_package")
     planner_config_package = LaunchConfiguration("planner_config_package")
@@ -198,14 +196,12 @@ def launch_setup(context, *args, **kwargs):
                 launch_arguments={
                     "zenoh_config_package": zenoh_config_package,
                     "zenoh_router_config_filename": zenoh_router_config_filename,
-                    'ros_domain_id': ros_domain_id.perform(context),
                 }.items(),
             )
         ]
     )
 
     return [
-        SetEnvironmentVariable('ROS_DOMAIN_ID', ros_domain_id),
         zenoh_router,
         SetEnvironmentVariable(
             "ZENOH_SESSION_CONFIG_URI",
@@ -282,7 +278,7 @@ def launch_setup(context, *args, **kwargs):
                 )
             ]
         ),
-        activate_node_service("motion_planner_server", ros_domain_id.perform(context)),
+        activate_node_service("motion_planner_server"),
     ]
 
 
@@ -307,11 +303,6 @@ def generate_launch_description():
             default_value="1",
             description="Maximum number of parallel jobs that this workcell is allowed to handle.",
         ),
-        DeclareLaunchArgument(
-            "ros_domain_id",
-            default_value="0",
-            description="ROS_DOMAIN_ID environment variable",
-        ),
         DeclareLaunchArgument(
             "headless",
             default_value="true",

nexus_demos/launch/workcell_1_tf.launch.py

@@ -23,7 +23,6 @@
 def launch_setup(context, *args, **kwargs):
     """Publish static TFs.
     """
-    ros_domain_id = LaunchConfiguration("ros_domain_id")
     zenoh_config_package = LaunchConfiguration("zenoh_config_package")
     zenoh_session_config_filename = LaunchConfiguration("zenoh_session_config_filename")
 
@@ -155,7 +154,6 @@ def launch_setup(context, *args, **kwargs):
     )
 
     return [
-        SetEnvironmentVariable('ROS_DOMAIN_ID', ros_domain_id),
         SetEnvironmentVariable(
             "ZENOH_SESSION_CONFIG_URI",
             PathJoinSubstitution(
@@ -175,11 +173,6 @@ def launch_setup(context, *args, **kwargs):
 def generate_launch_description():
     return LaunchDescription(
         [
-            DeclareLaunchArgument(
-                "ros_domain_id",
-                default_value="0",
-                description="ROS_DOMAIN_ID environment variable",
-            ),
             DeclareLaunchArgument(
                 name="zenoh_config_package",
                 default_value="nexus_demos",

nexus_demos/launch/workcell_2_tf.launch.py

@@ -23,7 +23,6 @@
 def launch_setup(context, *args, **kwargs):
     """Publish static TFs.
     """
-    ros_domain_id = LaunchConfiguration("ros_domain_id")
     zenoh_config_package = LaunchConfiguration("zenoh_config_package")
     zenoh_session_config_filename = LaunchConfiguration("zenoh_session_config_filename")
 
@@ -157,7 +156,6 @@ def launch_setup(context, *args, **kwargs):
     )
 
     return [
-        SetEnvironmentVariable('ROS_DOMAIN_ID', ros_domain_id),
         SetEnvironmentVariable(
             "ZENOH_SESSION_CONFIG_URI",
             PathJoinSubstitution(
@@ -177,11 +175,6 @@ def launch_setup(context, *args, **kwargs):
 def generate_launch_description():
     return LaunchDescription(
         [
-            DeclareLaunchArgument(
-                "ros_domain_id",
-                default_value="0",
-                description="ROS_DOMAIN_ID environment variable",
-            ),
             DeclareLaunchArgument(
                 name="zenoh_config_package",
                 default_value="nexus_demos",

nexus_demos/launch/zenoh_router.launch.py

@@ -29,7 +29,6 @@
 
 
 def launch_setup(context, *args, **kwargs):
-    ros_domain_id = LaunchConfiguration("ros_domain_id")
     log_level = LaunchConfiguration("log_level")
     zenoh_config_package = LaunchConfiguration("zenoh_config_package")
     zenoh_router_config_filename = LaunchConfiguration("zenoh_router_config_filename")
@@ -45,7 +44,6 @@ def launch_setup(context, *args, **kwargs):
         cmd=cmd,
         shell=True,
         additional_env={
-            "ROS_DOMAIN_ID": ros_domain_id.perform(context),
             "ZENOH_ROUTER_CONFIG_URI": PathJoinSubstitution([
                 FindPackageShare(zenoh_config_package),
                 zenoh_router_config_filename
@@ -57,40 +55,23 @@ def launch_setup(context, *args, **kwargs):
     return [zenoh_router_exec]
 
 def generate_launch_description():
-    declared_arguments = []
-
-    declared_arguments.append(
-        DeclareLaunchArgument(
-            name="ros_domain_id",
-            default_value="0",
-            description="ROS_DOMAIN_ID environment variable",
-        )
-    )
-
-    declared_arguments.append(
+    declared_arguments = [
         DeclareLaunchArgument(
             name="log_level",
             default_value="zenoh=debug",
             description="Log level of zenoh router",
-        )
-    )
-
-    declared_arguments.append(
+        ),
         DeclareLaunchArgument(
             name="zenoh_config_package",
             default_value="nexus_demos",
             description="Package containing RWM Zenoh configurations",
-        )
-    )
-
-    declared_arguments.append(
+        ),
         DeclareLaunchArgument(
             name="zenoh_router_config_filename",
             default_value="config/zenoh/system_orchestrator_router_config.json5",
             description="RMW Zenoh configuration filepath",
-        )
-    )
-
+        ),
+    ]
     return LaunchDescription(
         declared_arguments + [OpaqueFunction(function=launch_setup)]
     )