Fix publishers for ROS1

docs/source/tutorials/tutorial_5.rst

@@ -126,7 +126,8 @@ Define ROS Configuration in the MUV file
                             time_unit: s
                             handedness: rhs
                         port: 7302
-                        topic: /odom
+                        odom_topic: /odom
+                        tf_topic: /tf
                         rate: 60
                         body: tiago_dual # The body to attach the odometry to
                         frame_id: map

multiverse/modules/multiverse_connectors/src/ros/src/multiverse_ros_socket/multiverse_node/multiverse_publishers/multiverse_publisher.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-from typing import Dict, Any, List, Optional
+from typing import Dict, Any, List, Optional, Union
 
 from ... import Interface, INTERFACE
 
@@ -16,14 +16,14 @@
 
 class MultiversePublisher(MultiverseNode):
     _use_meta_data: bool = False
-    _msg_types: List[Any] = []
-    _msgs: List[Any] = []
-    __publishers: List[Publisher] = []
+    _msg_types: List[Any] = None
+    _msgs: List[Any] = None
+    __publishers: List[Publisher] = None
 
     def __init__(
             self,
             client_addr: SocketAddress,
-            topic_name: str | List[str],
+            topic_name: Optional[Union[str, List[str]]] = None,
             rate: float = 60.0,
             multiverse_meta_data: MultiverseMetaData = MultiverseMetaData(),
             **kwargs: Dict
@@ -33,11 +33,13 @@ def __init__(
             multiverse_meta_data=multiverse_meta_data
         )
         if isinstance(topic_name, str):
-            self.create_publishers([topic_name], [self._msg_type], rate)
+            self.create_publishers([topic_name], self._msg_types, rate)
         elif isinstance(topic_name, list):
             self.create_publishers(topic_name, self._msg_types, rate)
 
     def create_publishers(self, topic_names: List[str], msg_types: List[Any], rate: float) -> None:
+        self._msgs = []
+        self.__publishers = []
         if INTERFACE == Interface.ROS1:
             for topic_name, msg_type in zip(topic_names, msg_types):
                 self._msgs.append(msg_type())
@@ -67,11 +69,13 @@ def _run(self) -> None:
 
     def _publisher_callback(self, _=None) -> None:
         try:
-            self._communicate(self._use_meta_data)
             if self._use_meta_data:
+                self._bind_request_meta_data(_)
+                self._communicate(True)
                 self._bind_response_meta_data(self.response_meta_data)
             else:
-                self.send_data = [self.world_time + self.sim_time]
+                self.send_data = [self.sim_time]
+                self._communicate(False)
                 self._bind_receive_data(self.receive_data)
             self._publish()
         except:

multiverse/modules/multiverse_connectors/src/ros/src/multiverse_ros_socket/multiverse_node/multiverse_publishers/tf_publisher.py

@@ -37,7 +37,9 @@ def __init__(
             client_addr=client_addr,
             multiverse_meta_data=multiverse_meta_data,
         )
-        self.request_meta_data["receive"][""] = ["position", "quaternion"]
+
+    def _bind_request_meta_data(self, _) -> None:
+        self.request_meta_data["receive"] = {"": ["position", "quaternion"]}
 
     def _bind_response_meta_data(self, response_meta_data: Dict) -> None:
         objects = response_meta_data.get("receive")
@@ -79,4 +81,4 @@ def _bind_response_meta_data(self, response_meta_data: Dict) -> None:
             self._msgs[0].transforms.append(tf_msg)
 
         if INTERFACE == Interface.ROS1:
-            self._msgs[0] += 1
+            self._seq += 1

multiverse/modules/multiverse_connectors/src/ros/src/multiverse_ros_socket/multiverse_node/multiverse_services/socket_service.py

@@ -97,7 +97,7 @@ def _bind_request_meta_data(self, request: SocketRequest) -> SocketRequest:
         request_meta_data["meta_data"]["time_unit"] = "s" if meta_data.time_unit == "" else meta_data.time_unit
         request_meta_data["meta_data"]["handedness"] = "rhs" if meta_data.handedness == "" else meta_data.handedness
 
-        send_data = [self.world_time + self.sim_time]
+        send_data = [self.sim_time]
 
         for object_data in request.send:
             is_object_name_empty = object_data.object_name == ""

multiverse/resources/muv/default.muv

@@ -137,7 +137,8 @@ multiverse_clients:
               time_unit: s
               handedness: rhs
             port: 7303
-            topic: /odom
+            odom_topic: /odom
+            tf_topic: /tf
             rate: 60
             body: tiago_dual_1
             frame_id: map_1
@@ -220,7 +221,8 @@ multiverse_clients:
               time_unit: s
               handedness: rhs
             port: 7803
-            topic: /odom
+            odom_topic: /odom
+            tf_topic: /tf
             rate: 60
             body: tiago_dual_2
             frame_id: map_2

multiverse/resources/muv/tiago_dual_in_apartment.muv

@@ -104,7 +104,8 @@ multiverse_clients:
               time_unit: s
               handedness: rhs
             port: 7302
-            topic: /odom
+            odom_topic: /odom
+            tf_topic: /tf
             rate: 60
             body: tiago_dual
             frame_id: map

multiverse/resources/muv/tiago_dual_in_isr_testbed.muv

@@ -90,7 +90,8 @@ multiverse_clients:
               time_unit: s
               handedness: rhs
             port: 7302
-            topic: /odom
+            odom_topic: /odom
+            tf_topic: /tf
             rate: 60
             body: tiago_dual
             frame_id: map