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ogma-core: Allow for inputs to be deeply nested fields in ROS 2 template. Refs #547. - #550

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ivanperez-keera merged 2 commits into
nasa:developfrom
ivanperez-keera:develop-ros-subfields
Aug 25, 2026
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ogma-core: Allow for inputs to be deeply nested fields in ROS 2 template. Refs #547.#550
ivanperez-keera merged 2 commits into
nasa:developfrom
ivanperez-keera:develop-ros-subfields

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@ivanperez-keera ivanperez-keera commented Aug 20, 2026 •
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Modify the default ROS 2 template so that the test node generated uses variable names that do not include the sub-field name, as prescribed in the solution proposed for #547.

@nasa nasa deleted a comment from philphauler Aug 23, 2026
@ivanperez-keera
ivanperez-keera force-pushed the develop-ros-subfields branch 3 times, most recently from df0e450 to 123f321 Compare August 25, 2026 01:50
@ivanperez-keera
ogma-core: Update ROS 2 template to allow for inputs to be message su…
18e0785 
…bfields. Refs nasa#547.

The default ROS 2 template does not handle random value generation
correctly in the auto-generated test package when subfields are used.

For example, if an input variable `input_signal` is supposed to denote a
field `pose.pose.position.x` of an input message, the code generated in
the tests includes the invalid variable declaration:

```C++
double input_signal_pose.pose.position.x = randomFloat();
```

This commit modifies the default ROS 2 template so that the test node
generated uses variable names that do not include the sub-field name,
and thus do not result in code that does not compile if variables are
populated from message sub-fields.
@ivanperez-keera
ogma-core: Document changes in CHANGELOG. Refs nasa#547.
4124c4f
@ivanperez-keera

ivanperez-keera commented Aug 25, 2026

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Change Manager: Verified that:

  • Solution is implemented:
    • The code proposed compiles and passes all tests. Details:
    • The solution proposed produces the expected result. Details:
      The following Dockerfile uses Ogma to generate a ROS 2 monitor that depends a value of a subfield of an incoming message, and checks that the generated package builds correctly: 
      --- Dockerfile-verify-547
FROM ubuntu:26.04

ENV DEBIAN_FRONTEND=noninteractive

RUN apt-get update
SHELL ["/bin/bash", "-c"]

RUN apt-get install --yes --no-install-recommends \
  ca-certificates \
  curl \
  g++ \
  gcc \
  git \
  libbz2-dev \
  libexpat-dev \
  libgmp3-dev \
  libz-dev \
  make \
  pkg-config

RUN mkdir -p $HOME/.local/bin
ENV PATH=$PATH:/root/.local/bin/

RUN curl https://downloads.haskell.org/~ghcup/0.2.6.2/x86_64-linux-ghcup-0.2.6.2 -o $HOME/.local/bin/ghcup
RUN chmod a+x $HOME/.local/bin/ghcup

ENV PATH=$PATH:/root/.ghcup/bin/
RUN ghcup install ghc 9.12
RUN ghcup install cabal 3.16
RUN ghcup set ghc 9.12.4

RUN cabal update

RUN cabal install --lib copilot copilot-c99 copilot-language copilot-theorem \
         copilot-libraries copilot-interpreter

ARG GIT_COMMIT=HEAD
ARG NAME=ogma
ARG REPO=https://github.com/nasa/ogma

RUN git clone ${REPO} ${NAME}
RUN cd ${NAME} && git checkout ${GIT_COMMIT}

WORKDIR ${NAME}
RUN cabal install ogma-cli:ogma

ADD project.ogma /tmp
ADD document-nav2-msgs.json /tmp
ADD extra-vars-nav2-msgs.json /tmp
ADD json-format-nav2-msgs.cfg /tmp
ADD variables-nav2-msgs /tmp
ADD vars-db-nav2-msgs.json /tmp
ADD manual-deps.repos /tmp
ADD manually-installed-pkgs.txt /tmp

CMD ogma ros --project /tmp/project.ogma && \
    cd nav2-msgs-demo/copilot/src && \
    runhaskell Copilot.hs && \
    cd ../.. && \
    cp /tmp/manual-deps.repos . && \
    cp /tmp/manually-installed-pkgs.txt .

--- project.ogma
{
  "projectName": "Nav2 messages demo",
  "projectInputFiles": [
    [
      "/tmp/document-nav2-msgs.json",
      "/tmp/json-format-nav2-msgs.cfg",
      "literal"
    ]
  ],
  "projectVariableFiles": "/tmp/variables-nav2-msgs",
  "projectVariableDBFile": "/tmp/vars-db-nav2-msgs.json",
  "projectHandlerFile": null,
  "projectCommandPropVia": null,
  "projectTemplateDir": null,
  "projectTargetDir": "nav2-msgs-demo",
  "projectExtraJSONFile": "/tmp/extra-vars-nav2-msgs.json"
}

--- document-nav2-msgs.json
{
  "Nav2Copilot": {
    "internal_variables": [],
    "external_variables": [
      { "name":"input_signal", "type":"Double", "meaning": "InputF64" }
    ],
    "properties": [
      { "id":      "KeepInCheck",
        "formula": "input_signal >= 1 && input_signal < 10",
        "text":    "The vehicle stays near the central column"
      }
    ]
  }
}

--- extra-vars-nav2-msgs.json
{ "target_extra_dependencies":
    [ "nav2_msgs"
    ]
, "package_extra_depend":
    [ "nav2_msgs"
    ]
, "impl_extra_header":
    [ "#include \"nav_msgs/msg/odometry.hpp\"" ]
}

--- json-format-nav2-msgs.cfg
JSONFormat
   { specInternalVars          = Just "..internal_variables[*]"
   , specInternalVarId         = ".name"
   , specInternalVarExpr       = ".meaning"
   , specInternalVarType       = Just ".type"
   , specExternalVars          = Just "..external_variables[*]"
   , specExternalVarId         = ".name"
   , specExternalVarType       = Just ".type"
   , specRequirements          = "..properties[*]"
   , specRequirementId         = ".id"
   , specRequirementDesc       = Just ".text"
   , specRequirementExpr       = ".formula"
   , specRequirementResultType = Nothing
   , specRequirementResultExpr = Nothing
   }

--- variables-nav2-msgs
input_signal

--- vars-db-nav2-msgs.json
{ "inputs":
     [ { "name": "input_signal"
       , "type": "double"
       , "active": true
       , "connections":
           [ { "scope": "ros/message"
             , "topic": "/model/vehicle/odometry"
             , "field": "pose.pose.position.x"
             }
           ]
       }
     ]
, "topics":
     [ { "scope": "ros/message"
       , "topic": "/model/vehicle/odometry"
       , "type":  "nav_msgs::msg::Odometry"
       }
     ]
, "types": [
       { "fromScope": "ros/message"
       , "fromType":  "nav_msgs::msg::Odometry"
       , "fromField": "pose.pose.position.x"
       , "toScope":   "C"
       , "toType":    "double"
       }
     ]
}

--- manual-deps.repos
repositories:
  navigation2:
    type: git
    url: https://github.com/ros-planning/navigation2.git
    version: jazzy
  geographic_info:
    type: git
    url: https://github.com/ros-geographic-info/geographic_info.git
    version: jazzy

--- manually-installed-pkgs.txt
geographic_msgs
nav2_common
nav2_msgs
      Command (substitute variables based on new path after merge): 
      $ docker build --build-arg "REPO=https://github.com/ivanperez-keera/ogma" --build-arg "NAME=ogma" --build-arg "GIT_COMMIT=4124c4fc828a82a90443c03865980adeb31ec842" -t ogma-verify-547 -f Dockerfile-verify-547 .
$ docker run -v $PWD/nav2-msgs-demo:/ogma/nav2-msgs-demo -it ogma-verify-547
$ cd nav2-msgs-demo
$ docker build -t ogma-verify-547-space-ros .
  • Implementation is documented. Details:
    No updates needed; change is a minor change to the template.
  • Change history is clear.
  • Commit messages are clear.
  • Changelogs are updated.
  • Examples are updated. Details:
    No updates needed; change does not affect existing examples.
  • Author is internal or has provided signed CLA.
  • Required version bumps are evaluated. Details:
    Bump not needed; change makes existing template work for more cases but does not alter previously working applications.

@ivanperez-keera
ivanperez-keera merged commit 622cd60 into nasa:develop Aug 25, 2026
7 checks passed
@ivanperez-keera
ivanperez-keera deleted the develop-ros-subfields branch August 25, 2026 14:58
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