IfCondition is ignored in ComposableNode if LoadComposableNodes is used

[hodnajit]

Bug report

Required Info:

• Operating System:
  • ubuntu 22.04
• Installation type:
  • binaries
• Version or commit hash:
  • ros-rolling-launch (1.3.0-1jammy.20221102.202147)
• DDS implementation:
  • rmw_cyclonedds_cpp
• Client library (if applicable):
  • launch_ros

Steps to reproduce issue

Run example launchfile.

#!/usr/bin/env python3

from launch import LaunchDescription
from launch_ros.actions import Node
from launch.conditions import IfCondition
from launch.actions import DeclareLaunchArgument, GroupAction
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import LoadComposableNodes
from launch_ros.descriptions import ComposableNode


def generate_launch_description():
    show_image = LaunchConfiguration('show_image')

    declare_show_image_cmd = DeclareLaunchArgument(
        'show_image', default_value='False',
        description='Show image if True')

    use_composition = LaunchConfiguration('use_composition')

    declare_use_composition_cmd = DeclareLaunchArgument(
        'use_composition', default_value='True',
        description='Launch GroupAction if True')

    container = Node(
        condition=IfCondition(use_composition),
        name='image_container',
        package='rclcpp_components',
        executable='component_container',
        output='both',
    )

    load_composable_nodes = LoadComposableNodes(
        condition=IfCondition(use_composition),
        target_container='image_container',
        composable_node_descriptions=[
            ComposableNode(
                package='image_tools',
                plugin='image_tools::Cam2Image',
                name='cam2image',
                remappings=[('/image', '/burgerimage')],
                parameters=[{'width': 320, 'height': 240, 'burger_mode': True, 'history': 'keep_last'}],
                extra_arguments=[{'use_intra_process_comms': True}],
            ),
            ComposableNode(
                package='image_tools',
                plugin='image_tools::ShowImage',
                name='showimage',
                condition=IfCondition(show_image),
                remappings=[('/image', '/burgerimage')],
                parameters=[{'history': 'keep_last'}],
                extra_arguments=[{'use_intra_process_comms': True},]
            ),
        ],
    )

    # Create the launch description and populate
    ld = LaunchDescription()

    # Declare the launch options
    ld.add_action(declare_show_image_cmd)
    ld.add_action(declare_use_composition_cmd)

    # Add composable container
    ld.add_action(container)

    # Add the actions to launch of the nodes
    ld.add_action(load_composable_nodes)
    return ld

Expected behavior

The node /showimage is not launched.

Actual behavior

The node /showimage is launched.

[hodnajit]

Maybe better example (similar to this test)

launch_ros/test_launch_ros/test/test_launch_ros/actions/test_composable_node_container.py

Line 172 in 73098cf

condition=IfCondition(LaunchConfiguration('flag'))

Again, despite the IfCondition, all nodes are launched

/test_component_container_node_name
/test_component_container_node_name_1
/test_component_container_node_name_2

`#!/usr/bin/env python3

from launch import LaunchDescription
from launch_ros.actions import Node
from launch.conditions import IfCondition, UnlessCondition
from launch.actions import DeclareLaunchArgument, GroupAction
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import LoadComposableNodes, ComposableNodeContainer
from launch_ros.descriptions import ComposableNode

TEST_CONTAINER_NAME = 'test_component_container_node_name'
TEST_NODE_NAME = 'test_composable_node_name'
TEST_NODE_NAMESPACE = 'test_composable_node_namespace'

def generate_launch_description():
flag = LaunchConfiguration('flag')

TEST_NODE_NAME_1 = 'test_component_container_node_name_1'
TEST_NODE_NAME_2 = 'test_component_container_node_name_2'

declare_flag_cmd = DeclareLaunchArgument(name='flag', default_value='False')

container = Node(
    name=TEST_CONTAINER_NAME,
    package='rclcpp_components',
    executable='component_container',
    output='both',
)

load_composable_nodes = LoadComposableNodes(
    target_container=TEST_CONTAINER_NAME,
    composable_node_descriptions=[
        ComposableNode(
            package='composition',
            plugin='composition::Listener',
            name=TEST_NODE_NAME_1,
            condition=UnlessCondition(flag)
        ),
        ComposableNode(
            package='composition',
            plugin='composition::Listener',
            name=TEST_NODE_NAME_2,
            condition=IfCondition(flag)
        )
    ],
)

# Create the launch description and populate
ld = LaunchDescription()

# Declare the launch options
ld.add_action(declare_flag_cmd)

# Add composable container
ld.add_action(container)

# Add the actions to launch of the nodes
ld.add_action(load_composable_nodes)

return ld

`

[methylDragon]

Reformatting for convenience

#!/usr/bin/env python3

from launch import LaunchDescription
from launch_ros.actions import Node
from launch.conditions import IfCondition, UnlessCondition
from launch.actions import DeclareLaunchArgument, GroupAction
from launch.substitutions import LaunchConfiguration, PythonExpression
from launch_ros.actions import LoadComposableNodes, ComposableNodeContainer
from launch_ros.descriptions import ComposableNode

TEST_CONTAINER_NAME = 'test_component_container_node_name'
TEST_NODE_NAME = 'test_composable_node_name'
TEST_NODE_NAMESPACE = 'test_composable_node_namespace'

def generate_launch_description():
    flag = LaunchConfiguration('flag')

    TEST_NODE_NAME_1 = 'test_component_container_node_name_1'
    TEST_NODE_NAME_2 = 'test_component_container_node_name_2'

    declare_flag_cmd = DeclareLaunchArgument(name='flag', default_value='False')

    container = Node(
        name=TEST_CONTAINER_NAME,
        package='rclcpp_components',
        executable='component_container',
        output='both',
    )

    load_composable_nodes = LoadComposableNodes(
        target_container=TEST_CONTAINER_NAME,
        composable_node_descriptions=[
            ComposableNode(
                package='composition',
                plugin='composition::Listener',
                name=TEST_NODE_NAME_1,
                condition=UnlessCondition(flag)
            ),
            ComposableNode(
                package='composition',
                plugin='composition::Listener',
                name=TEST_NODE_NAME_2,
                condition=IfCondition(flag)
            )
        ],
    )

    # Create the launch description and populate
    ld = LaunchDescription()

    # Declare the launch options
    ld.add_action(declare_flag_cmd)

    # Add composable container
    ld.add_action(container)

    # Add the actions to launch of the nodes
    ld.add_action(load_composable_nodes)

    return ld

[methylDragon]

Gotcha, I can reproduce this issue, now to look into it...

[methylDragon]

Hello! This PR should address the issue (:

• Ensure load_composable_nodes respects condition #339

Do note that it'll take a little while for this change to propagate through and get released (the PR will need to get merged, then the repo has to get released, and finally there has to be a rolling sync.) So I'd recommend building from source if you want the change immediately.
@hodnajit

[hodnajit]

Thank you :) great job!