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Adapt to '--ros-args ... [--]'-based ROS args extraction #52

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Aug 7, 2019
Merged

Adapt to '--ros-args ... [--]'-based ROS args extraction #52

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9acba78
Prepend Node action ROS args in command with --ros-args flag.
hidmic Aug 5, 2019
552a3cd
Fix failing launch_ros action test.
hidmic Aug 5, 2019
31a4b53
Remove assertion on cmd, substitutions not expanded yet.
hidmic Aug 5, 2019
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1 change: 1 addition & 0 deletions launch_ros/launch_ros/actions/node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -129,6 +129,7 @@ def __init__(
cmd += [] if arguments is None else arguments
# Reserve space for ros specific arguments.
# The substitutions will get expanded when the action is executed.
cmd += ['--ros-args'] # Prepend ros specific arguments with --ros-args flag
if node_name is not None:
cmd += [LocalSubstitution(
"ros_specific_arguments['name']", description='node name')]
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2 changes: 0 additions & 2 deletions test_launch_ros/test/test_launch_ros/actions/test_push_ros_namespace.py
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Expand Up @@ -82,7 +82,5 @@ def test_push_ros_namespace(config):
node_namespace=config.node_ns,
)
node._perform_substitutions(lc)
expected_cmd_len = 2 if config.expected_ns is not None else 1
assert expected_cmd_len == len(node.cmd)
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I think this should have been updated to:

    expected_cmd_len = 3 if config.expected_ns is not None else 2
    assert expected_cmd_len == len(node.cmd)

Checking that __ns:=/ is not added when the expanded namespace is '' is important.

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@hidmic hidmic Aug 9, 2019 •
edited
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The thing is that the original test was incorrect, as node.cmd substitutions are not resolved by node._perform_substitutions().

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The len of the list is the same before and after performing the substitutions, so it was ok correct.

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The len of the list is the same before and after performing the substitutions

That is a result of the current implementation, and thus not guaranteed nor enforced by the API.

Checking that __ns:=/ is not added when the expanded namespace is '' is important.

I agree with this, but the former test was not adequate for said purpose. We can change either launch_ros.actions.Node implementation or the test itself to query the fully resolved cmd instead of counting substitutions and expecting them to be right.

expected_ns = config.expected_ns if config.expected_ns is not None else ''
assert expected_ns == node.expanded_node_namespace