Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

NodeStrategy supports node name argument. #941

Merged
merged 3 commits into from
Nov 7, 2024
Merged

NodeStrategy supports node name argument. #941

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
ea96064
NodeStrategy supports node name argument.
fujitatomoya Oct 21, 2024
a552ee9
default node name should be None.
fujitatomoya Oct 25, 2024
c4f7159
adjust help message for ros2 echo node name option.
fujitatomoya Nov 6, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
9 changes: 5 additions & 4 deletions ros2cli/ros2cli/node/strategy.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -22,20 +22,21 @@

class NodeStrategy:

def __init__(self, args):
def __init__(self, args, *, node_name=None):
use_daemon = not getattr(args, 'no_daemon', False)
if use_daemon and is_daemon_running(args):
self._daemon_node = DaemonNode(args)
self._direct_node = None
if not self._daemon_node.connected:
self._direct_node = DirectNode(args)
self._direct_node = DirectNode(args, node_name=node_name)
self._daemon_node = None
else:
if use_daemon:
spawn_daemon(args)
self._direct_node = DirectNode(args)
self._direct_node = DirectNode(args, node_name=node_name)
self._daemon_node = None
self._args = args
self._node_name = node_name
self._in_scope = False

@property
Expand All @@ -45,7 +46,7 @@ def daemon_node(self):
@property
def direct_node(self):
if self._direct_node is None:
self._direct_node = DirectNode(self._args)
self._direct_node = DirectNode(self._args, node_name=self._node_name)
if self._in_scope:
self._direct_node.__enter__()
return self._direct_node
Expand Down
5 changes: 4 additions & 1 deletion ros2topic/ros2topic/verb/echo.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -110,6 +110,9 @@ def add_arguments(self, parser, cli_name):
parser.add_argument(
'--clear', '-c', action='store_true',
help='Clear screen before printing next message')
parser.add_argument(
'-n', '--node-name', type=str, default=None,
help='The name of the echoing node; by default, will be a hidden node name')

def choose_qos(self, node, args):

Expand Down Expand Up @@ -200,7 +203,7 @@ def main(self, *, args):

self.include_message_info = args.include_message_info

with NodeStrategy(args) as node:
with NodeStrategy(args, node_name=args.node_name) as node:

qos_profile = self.choose_qos(node, args)

Expand Down