Merge pull request #69 from alliander-opensource/remove-node-from-nod…

…e-names

Remove node from node names.

ros2_ws/src/rcdt_detection/src_py/get_mask_properties.py

@@ -11,21 +11,19 @@
 
 from vision_msgs.msg import Point2D
 
-from rcdt_detection_msgs.srv import GetMaskProperties
+from rcdt_detection_msgs.srv import GetMaskProperties as Srv
 from rcdt_detection.mask_properties import MaskProperties
 from rcdt_utilities.cv_utils import ros_image_to_cv2_image, camera_info_to_intrinsics
 
 ros_logger = logging.get_logger(__name__)
 
 
-class GetMaskPropertiesNode(Node):
+class GetMaskProperties(Node):
     def __init__(self) -> None:
         super().__init__("get_mask_properties")
-        self.create_service(GetMaskProperties, "/get_mask_properties", self.callback)
+        self.create_service(Srv, "/get_mask_properties", self.callback)
 
-    def callback(
-        self, request: GetMaskProperties.Request, response: GetMaskProperties.Response
-    ) -> GetMaskProperties.Response:
+    def callback(self, request: Srv.Request, response: Srv.Response) -> Srv.Response:
         mask = ros_image_to_cv2_image(request.mask)
         depth_image = ros_image_to_cv2_image(request.depth_image)
         intrinsics = camera_info_to_intrinsics(request.camera_info)
@@ -48,7 +46,7 @@ def callback(
 
 def main(args: str = None) -> None:
     rclpy.init(args=args)
-    node = GetMaskPropertiesNode()
+    node = GetMaskProperties()
     spin_node(node)
 
 

ros2_ws/src/rcdt_detection/src_py/get_rgbd_from_topic.py

@@ -8,21 +8,19 @@
 from rclpy import logging
 from rclpy.node import Node
 from rclpy import wait_for_message
-from rcdt_detection_msgs.srv import GetRGBDFromTopic
+from rcdt_detection_msgs.srv import GetRGBDFromTopic as Srv
 from realsense2_camera_msgs.msg import RGBD
 from rcdt_utilities.launch_utils import spin_node
 
 ros_logger = logging.get_logger(__name__)
 
 
-class GetRGBDFromTopicNode(Node):
+class GetRGBDFromTopic(Node):
     def __init__(self) -> None:
         super().__init__("get_rgbd_from_topic")
-        self.create_service(GetRGBDFromTopic, "/get_rgbd_from_topic", self.callback)
+        self.create_service(Srv, "/get_rgbd_from_topic", self.callback)
 
-    def callback(
-        self, request: GetRGBDFromTopic.Request, response: GetRGBDFromTopic.Response
-    ) -> GetRGBDFromTopic.Response:
+    def callback(self, request: Srv.Request, response: Srv.Response) -> Srv.Response:
         if request.topic == "":
             ros_logger.error("No topic was specified. Exit.")
             response.success = False
@@ -43,7 +41,7 @@ def callback(
 
 def main(args: str = None) -> None:
     rclpy.init(args=args)
-    node = GetRGBDFromTopicNode()
+    node = GetRGBDFromTopic()
     spin_node(node)
 
 

ros2_ws/src/rcdt_detection/src_py/pose_from_pixel.py

@@ -10,22 +10,20 @@
 from rclpy.node import Node
 from rcdt_utilities.launch_utils import spin_node
 from sensor_msgs.msg import CameraInfo
-from rcdt_detection_msgs.srv import PoseFromPixel
+from rcdt_detection_msgs.srv import PoseFromPixel as Srv
 from rcdt_utilities.cv_utils import ros_image_to_cv2_image
 
 ros_logger = logging.get_logger(__name__)
 
 
-class PoseFromPixelNode(Node):
+class PoseFromPixel(Node):
     """Converts a pixel to the corresponding pose in meters."""
 
     def __init__(self) -> None:
         super().__init__("pose_from_pixel")
-        self.create_service(PoseFromPixel, "/pose_from_pixel", self.callback)
+        self.create_service(Srv, "/pose_from_pixel", self.callback)
 
-    def callback(
-        self, request: PoseFromPixel.Request, response: PoseFromPixel.Response
-    ) -> PoseFromPixel.Response:
+    def callback(self, request: Srv.Request, response: Srv.Response) -> Srv.Response:
         cv2_image = ros_image_to_cv2_image(request.depth_image)
         height, width = cv2_image.shape
         intr = calculate_intrinsics(request.camera_info)
@@ -87,7 +85,7 @@ def calculate_intrinsics(camera_info: CameraInfo) -> rs2.intrinsics:
 
 def main(args: str = None) -> None:
     rclpy.init(args=args)
-    node = PoseFromPixelNode()
+    node = PoseFromPixel()
     spin_node(node)
 
 

ros2_ws/src/rcdt_detection/src_py/publish_image.py

@@ -8,20 +8,18 @@
 from rclpy import logging
 from rclpy.node import Node
 from rcdt_utilities.launch_utils import spin_node
-from rcdt_detection_msgs.srv import PublishImage
+from rcdt_detection_msgs.srv import PublishImage as Srv
 from sensor_msgs.msg import Image
 
 ros_logger = logging.get_logger(__name__)
 
 
-class PublishImageNode(Node):
+class PublishImage(Node):
     def __init__(self) -> None:
         super().__init__("publish_image")
-        self.create_service(PublishImage, "/publish_image", self.callback)
+        self.create_service(Srv, "/publish_image", self.callback)
 
-    def callback(
-        self, request: PublishImage.Request, response: PublishImage.Response
-    ) -> PublishImage.Response:
+    def callback(self, request: Srv.Request, response: Srv.Response) -> Srv.Response:
         publisher = self.create_publisher(Image, request.topic, 10)
         publisher.publish(request.image)
         response.success = True
@@ -30,7 +28,7 @@ def callback(
 
 def main(args: str = None) -> None:
     rclpy.init(args=args)
-    node = PublishImageNode()
+    node = PublishImage()
     spin_node(node)
 
 

ros2_ws/src/rcdt_detection/src_py/publish_masks.py

@@ -9,21 +9,19 @@
 from rclpy import logging
 from rclpy.node import Node
 from rcdt_utilities.launch_utils import spin_node
-from rcdt_detection_msgs.srv import PublishMasks
+from rcdt_detection_msgs.srv import PublishMasks as Srv
 from rcdt_utilities.cv_utils import cv2_image_to_ros_image, ros_image_to_cv2_image
 from sensor_msgs.msg import Image
 
 ros_logger = logging.get_logger(__name__)
 
 
-class PublishMasksNode(Node):
+class PublishMasks(Node):
     def __init__(self) -> None:
         super().__init__("publish_masks")
-        self.create_service(PublishMasks, "/publish_masks", self.callback)
+        self.create_service(Srv, "/publish_masks", self.callback)
 
-    def callback(
-        self, request: PublishMasks.Request, response: PublishMasks.Response
-    ) -> PublishMasks.Response:
+    def callback(self, request: Srv.Request, response: Srv.Response) -> Srv.Response:
         publisher = self.create_publisher(Image, request.topic, 10)
         masks_cv2 = [ros_image_to_cv2_image(mask) for mask in request.masks]
         if len(masks_cv2) == 0:
@@ -37,7 +35,7 @@ def callback(
 
 def main(args: str = None) -> None:
     rclpy.init(args=args)
-    node = PublishMasksNode()
+    node = PublishMasks()
     spin_node(node)
 
 

ros2_ws/src/rcdt_detection/src_py/segment_image.py

@@ -9,7 +9,7 @@
 from rclpy.node import Node
 from rcdt_utilities.launch_utils import spin_node
 from rclpy import logging
-from rcdt_detection_msgs.srv import SegmentImage
+from rcdt_detection_msgs.srv import SegmentImage as Srv
 from rcdt_detection.segmentation import segment_image, load_segmentation_model
 from rcdt_utilities.cv_utils import cv2_image_to_ros_image, ros_image_to_cv2_image
 from rcdt_detection.image_manipulation import (
@@ -20,17 +20,15 @@
 ros_logger = logging.get_logger(__name__)
 
 
-class SegmentImageNode(Node):
+class SegmentImage(Node):
     def __init__(self) -> None:
         super().__init__("segment_image")
         self.declare_parameter("model_name", "SAM2")
         model_name = self.get_parameter("model_name").get_parameter_value().string_value
-        self.create_service(SegmentImage, "segment_image", self.callback)
+        self.create_service(Srv, "segment_image", self.callback)
         self.model = load_segmentation_model(model_name)
 
-    def callback(
-        self, request: SegmentImage.Request, response: SegmentImage.Response
-    ) -> SegmentImage.Response:
+    def callback(self, request: Srv.Request, response: Srv.Response) -> Srv.Response:
         input_image_ros = request.input_image
         input_image_cv2 = ros_image_to_cv2_image(input_image_ros)
 
@@ -54,7 +52,7 @@ def callback(
 
 def main(args: str = None) -> None:
     rclpy.init(args=args)
-    node = SegmentImageNode()
+    node = SegmentImage()
     spin_node(node)
 
 

ros2_ws/src/rcdt_detection/src_py/select_image_from_list.py

@@ -7,24 +7,18 @@
 import rclpy
 from rclpy import logging
 from rclpy.node import Node
-from rcdt_detection_msgs.srv import SelectImageFromList
+from rcdt_detection_msgs.srv import SelectImageFromList as Srv
 from rcdt_utilities.launch_utils import spin_node
 
 ros_logger = logging.get_logger(__name__)
 
 
-class SelectImageFromListNode(Node):
+class SelectImageFromList(Node):
     def __init__(self) -> None:
         super().__init__("select_image_from_list")
-        self.create_service(
-            SelectImageFromList, "/select_image_from_list", self.callback
-        )
-
-    def callback(
-        self,
-        request: SelectImageFromList.Request,
-        response: SelectImageFromList.Response,
-    ) -> SelectImageFromList.Response:
+        self.create_service(Srv, "/select_image_from_list", self.callback)
+
+    def callback(self, request: Srv.Request, response: Srv.Response) -> Srv.Response:
         n_images = len(request.image_list)
         n_select = request.n
         if n_select >= n_images:
@@ -40,7 +34,7 @@ def callback(
 
 def main(args: str = None) -> None:
     rclpy.init(args=args)
-    node = SelectImageFromListNode()
+    node = SelectImageFromList()
     spin_node(node)
 
 

ros2_ws/src/rcdt_detection/src_py/select_pick_location.py

@@ -8,7 +8,7 @@
 import rclpy
 from rclpy.node import Node
 from rclpy import logging
-from rcdt_detection_msgs.srv import SelectPickLocation
+from rcdt_detection_msgs.srv import SelectPickLocation as Srv
 from rcdt_utilities.cv_utils import (
     ros_image_to_cv2_image,
     cv2_image_to_ros_image,
@@ -21,14 +21,12 @@
 ros_logger = logging.get_logger(__name__)
 
 
-class SelectPickLocationNode(Node):
+class SelectPickLocation(Node):
     def __init__(self) -> None:
         super().__init__("filter_masks")
-        self.create_service(SelectPickLocation, "/select_pick_location", self.callback)
+        self.create_service(Srv, "/select_pick_location", self.callback)
 
-    def callback(
-        self, request: SelectPickLocation.Request, response: SelectPickLocation.Response
-    ) -> SelectPickLocation.Response:
+    def callback(self, request: Srv.Request, response: Srv.Response) -> Srv.Response:
         depth_image = ros_image_to_cv2_image(request.depth_image)
         intrinsics = camera_info_to_intrinsics(request.camera_info)
 
@@ -65,7 +63,7 @@ def callback(
 
 def main(args: str = None) -> None:
     rclpy.init(args=args)
-    node = SelectPickLocationNode()
+    node = SelectPickLocation()
     spin_node(node)
 
 

ros2_ws/src/rcdt_sensors/src_py/combine_camera_topics.py

@@ -14,7 +14,7 @@
 ros_logger = logging.get_logger(__name__)
 
 
-class CombineCameraTopicsNode(Node):
+class CombineCameraTopics(Node):
     def __init__(self) -> bool:
         super().__init__("combine_camera_topics")
         self.declare_parameter("rgb", "/camera/camera/color/image_raw")
@@ -56,7 +56,7 @@ def update_depth_info(self, msg: CameraInfo) -> None:
 
 def main(args: str = None) -> None:
     rclpy.init(args=args)
-    node = CombineCameraTopicsNode()
+    node = CombineCameraTopics()
     spin_node(node)
 
 

ros2_ws/src/rcdt_sensors/src_py/convert_32FC1_to_16UC1.py

@@ -15,7 +15,7 @@
 ros_logger = logging.get_logger(__name__)
 
 
-class Convert32FC1to16UC1Node(Node):
+class Convert32FC1to16UC1(Node):
     def __init__(self) -> bool:
         super().__init__("convert_32FC1_to_16UC1_node")
 
@@ -36,7 +36,7 @@ def callback(self, msg: Image) -> None:
 
 def main(args: str = None) -> None:
     rclpy.init(args=args)
-    node = Convert32FC1to16UC1Node()
+    node = Convert32FC1to16UC1()
     spin_node(node)
 
 

ros2_ws/src/rcdt_utilities/src_py/joy_to_twist.py

@@ -15,7 +15,7 @@
 ros_logger = logging.get_logger(__name__)
 
 
-class JoyToTwistNode(Node):
+class JoyToTwist(Node):
     def __init__(self) -> bool:
         super().__init__("joy_to_twist_node")
         self.declare_parameter("sub_topic", "/joy")
@@ -81,7 +81,7 @@ def handle_input(self, sub_msg: Joy) -> None:
 
 def main(args: str = None) -> None:
     rclpy.init(args=args)
-    node = JoyToTwistNode()
+    node = JoyToTwist()
     spin_node(node)
 
 

ros2_ws/src/rcdt_utilities/src_py/manipulate_pose.py

@@ -19,7 +19,7 @@
 ros_logger = logging.get_logger(__name__)
 
 
-class ManipulatePoseNode(Node):
+class ManipulatePose(Node):
     def __init__(self):
         super().__init__("manipulate_pose")
 
@@ -92,7 +92,7 @@ def apply_transform_relative(pose: PoseStamped, transform: Transform) -> PoseSta
 
 def main(args: str = None) -> None:
     rclpy.init(args=args)
-    node = ManipulatePoseNode()
+    node = ManipulatePose()
     spin_node(node)
 
 

ros2_ws/src/rcdt_utilities/src_py/moveit_controller.py

@@ -26,7 +26,7 @@
 from std_srvs.srv import Trigger
 
 
-class MoveitControllerNode(Node):
+class MoveitController(Node):
     def __init__(self, group: str) -> None:
         name = "moveit_controller"
         super().__init__(name)
@@ -222,7 +222,7 @@ def clear_objects(
 def main(args: str = None) -> None:
     rclpy.init(args=args)
     executor = MultiThreadedExecutor()
-    node = MoveitControllerNode("fr3_arm")
+    node = MoveitController("fr3_arm")
     executor.add_node(node)
     spin_executor(executor)