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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,113 @@ | ||
| import omni.graph.core as og | ||
| import carb | ||
|
|
||
|
|
||
| class ROS2OmniInput: | ||
| def __init__(self, prim_paths: dict): | ||
| super().__init__() | ||
| self._prim_paths = self.initialize_prim_paths(prim_paths) | ||
| (self._omni_graph, _, _, _) = og.Controller.edit( | ||
| {"graph_path": "/action_graph_input", "evaluator_name": "execution"}, {} | ||
| ) | ||
| self._omni_controller = og.Controller(self._omni_graph) | ||
|
|
||
| self._keys = og.Controller.Keys | ||
| self.initialize_omnigraph() | ||
|
|
||
| def initialize_prim_paths(self, prim_paths: dict): | ||
| default_paths = { | ||
| "namespace": "AnymalD", | ||
| } | ||
| for key, default in default_paths.items(): | ||
| if key not in prim_paths: | ||
| prim_paths[key] = default | ||
| return prim_paths | ||
|
|
||
| def initialize_omnigraph(self): | ||
| self.create_general_nodes() | ||
| self.create_ros_nodes() | ||
| self.set_general_node_values() | ||
| self.set_ros_node_values() | ||
| self.connect_general_nodes() | ||
| self.connect_ros_nodes() | ||
|
|
||
| def create_general_nodes(self): | ||
| nodes = [ | ||
| ("PTick", "omni.graph.action.OnPlaybackTick"), | ||
| ("Namespace_string", "omni.graph.nodes.ConstantString"), | ||
| ] | ||
| self.create_nodes(nodes) | ||
|
|
||
| def create_ros_nodes(self): | ||
| nodes = [ | ||
| ("Ros_Context", "omni.isaac.ros2_bridge.ROS2Context"), | ||
| ("Ros_Twist_sub", "omni.isaac.ros2_bridge.ROS2SubscribeTwist"), | ||
| ] | ||
| self.create_nodes(nodes) | ||
|
|
||
| def create_nodes(self, nodes): | ||
| self._omni_controller.edit( | ||
| self._omni_graph, | ||
| {self._keys.CREATE_NODES: nodes}, | ||
| ) | ||
|
|
||
| def set_general_node_values(self): | ||
| values = [ | ||
| ("Namespace_string.inputs:value", self._prim_paths["namespace"]), | ||
| ] | ||
| self.set_node_values(values) | ||
|
|
||
| def set_ros_node_values(self): | ||
| values = [ | ||
| ("Ros_Context.inputs:useDomainIDEnvVar", True), | ||
| ("Namespace_string.inputs:value", self._prim_paths["namespace"]), | ||
| ] | ||
| self.set_node_values(values) | ||
|
|
||
| def set_node_values(self, values): | ||
| self._omni_controller.edit( | ||
| self._omni_graph, | ||
| {self._keys.SET_VALUES: values}, | ||
| ) | ||
|
|
||
| def connect_general_nodes(self): | ||
| connections = [ | ||
| ("PTick.outputs:tick", "Ros_Twist_sub.inputs:execIn"), | ||
| ] | ||
| self.connect_nodes(connections) | ||
|
|
||
| def connect_ros_nodes(self): | ||
| connections = [ | ||
| ("Ros_Context.outputs:context", "Ros_Twist_sub.inputs:context"), | ||
| ("Namespace_string.inputs:value", "Ros_Twist_sub.inputs:nodeNamespace"), | ||
| ] | ||
| self.connect_nodes(connections) | ||
|
|
||
| def connect_nodes(self, connections): | ||
| self._omni_controller.edit( | ||
| self._omni_graph, | ||
| {self._keys.CONNECT: connections}, | ||
| ) | ||
|
|
||
| # TODO: 여기서부터 다시 작업~ | ||
| def setup_graph_monitoring(): | ||
| # Get a handle to the graph | ||
| keys = og.Controller.Keys | ||
| (graph_handle, _, _, _) = og.Controller.edit({"graph_path": "/action_graph_input"}) | ||
|
|
||
| # Access the output attribute | ||
| output_attr = og.Controller.attribute( | ||
| "/action_graph_input/Ros_Twist_sub.outputs:angularVelocity" | ||
| ) | ||
|
|
||
| # Define callback | ||
| def on_value_change(attr): | ||
| new_value = attr.get() | ||
| carb.log_info(f"Output value updated: {new_value}") | ||
|
|
||
| # Register callback | ||
| output_attr.add_value_changed_fn(on_value_change) | ||
|
|
||
| # Get the initial value | ||
| initial_value = output_attr.get() | ||
| carb.log_info(f"Initial value: {initial_value}") |
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