def parse(cls, entity: Entity, parser: Parser):
"""Parse node."""
# See parse method of `ExecuteProcess`
_, kwargs = super().parse(entity, parser, 'args')
kwargs['arguments'] = kwargs['args']
del kwargs['args']
kwargs['node_name'] = kwargs['name']
del kwargs['name']
kwargs['package'] = parser.parse_substitution(entity.get_attr('pkg'))
kwargs['node_executable'] = parser.parse_substitution(
entity.get_attr('exec'))
ns = entity.get_attr('namespace', optional=True)
if ns is not None:
kwargs['node_namespace'] = parser.parse_substitution(ns)
remappings = entity.get_attr('remap', optional=True)
if remappings is not None:
kwargs['remappings'] = [
(parser.parse_substitution(remap.get_attr('from')),
parser.parse_substitution(remap.get_attr('to')))
for remap in remappings
]
parameters = entity.get_attr('param',
data_type=List[Entity],
optional=True)
if parameters is not None:
kwargs['parameters'] = cls.parse_nested_parameters(
parameters, parser)
return cls, kwargs
def parse(cls, entity: Entity, parser: Parser):
"""Parse load_composable_node."""
_, kwargs = super().parse(entity, parser)
kwargs['target_container'] = parser.parse_substitution(
entity.get_attr('target', data_type=str))
composable_nodes = entity.get_attr('composable_node', data_type=List[Entity])
kwargs['composable_node_descriptions'] = []
for entity in composable_nodes:
composable_node_cls, composable_node_kwargs = ComposableNode.parse(parser, entity)
kwargs['composable_node_descriptions'].append(
composable_node_cls(**composable_node_kwargs))
return cls, kwargs
def parse(cls, entity: Entity, parser: Parser):
"""Parse."""
_, kwargs = super().parse(entity, parser)
kwargs['session_name'] = entity.get_attr('session-name')
append_timestamp = entity.get_attr('append-timestamp',
data_type=bool,
optional=True,
can_be_str=False)
if append_timestamp is not None:
kwargs['append_timestamp'] = append_timestamp
base_path = entity.get_attr('base-path', optional=True)
if base_path:
kwargs['base_path'] = parser.parse_substitution(base_path)
# Make sure to handle empty strings and replace with empty lists,
# otherwise an empty string enables all events
events_ust = entity.get_attr('events-ust', optional=True)
if events_ust is not None:
kwargs['events_ust'] = cls._parse_cmdline(events_ust, parser) \
if events_ust else []
events_kernel = entity.get_attr('events-kernel', optional=True)
if events_kernel is not None:
kwargs['events_kernel'] = cls._parse_cmdline(events_kernel, parser) \
if events_kernel else []
context_fields = entity.get_attr('context-fields', optional=True)
if context_fields is not None:
kwargs['context_fields'] = cls._parse_cmdline(context_fields, parser) \
if context_fields else []
context_names = entity.get_attr('context-names', optional=True)
if context_names is not None:
kwargs['context_names'] = cls._parse_cmdline(context_names, parser) \
if context_names else []
return cls, kwargs
def parse(cls, entity: Entity, parser: Parser):
"""Parse node."""
# See parse method of `ExecuteProcess`
_, kwargs = super().parse(entity, parser, ignore=['cmd'])
args = entity.get_attr('args', optional=True)
if args is not None:
kwargs['arguments'] = super()._parse_cmdline(args, parser)
ros_args = entity.get_attr('ros_args', optional=True)
if ros_args is not None:
kwargs['ros_arguments'] = super()._parse_cmdline(ros_args, parser)
node_name = entity.get_attr('node-name', optional=True)
if node_name is not None:
kwargs['node_name'] = parser.parse_substitution(node_name)
node_name = entity.get_attr('name', optional=True)
if node_name is not None:
kwargs['name'] = parser.parse_substitution(node_name)
exec_name = entity.get_attr('exec_name', optional=True)
if exec_name is not None:
kwargs['exec_name'] = parser.parse_substitution(exec_name)
package = entity.get_attr('pkg', optional=True)
if package is not None:
kwargs['package'] = parser.parse_substitution(package)
kwargs['executable'] = parser.parse_substitution(entity.get_attr('exec'))
ns = entity.get_attr('namespace', optional=True)
if ns is not None:
kwargs['namespace'] = parser.parse_substitution(ns)
remappings = entity.get_attr('remap', data_type=List[Entity], optional=True)
if remappings is not None:
kwargs['remappings'] = [
(
parser.parse_substitution(remap.get_attr('from')),
parser.parse_substitution(remap.get_attr('to'))
) for remap in remappings
]
for remap in remappings:
remap.assert_entity_completely_parsed()
parameters = entity.get_attr('param', data_type=List[Entity], optional=True)
if parameters is not None:
kwargs['parameters'] = cls.parse_nested_parameters(parameters, parser)
return cls, kwargs
def parse(
cls,
entity: Entity,
parser: Parser,
):
"""Return the `RosTimer` action and kwargs for constructing it."""
_, kwargs = super().parse(entity, parser)
kwargs['period'] = parser.parse_if_substitutions(
entity.get_attr('period', data_type=float, can_be_str=True))
kwargs['actions'] = [
parser.parse_action(child) for child in entity.children
]
return cls, kwargs
def parse(cls, parser: Parser, entity: Entity):
"""Parse composable_node."""
from launch_ros.actions import Node
kwargs = {}
kwargs['package'] = parser.parse_substitution(entity.get_attr('pkg'))
kwargs['plugin'] = parser.parse_substitution(entity.get_attr('plugin'))
kwargs['name'] = parser.parse_substitution(entity.get_attr('name'))
namespace = entity.get_attr('namespace', optional=True)
if namespace is not None:
kwargs['namespace'] = parser.parse_substitution(namespace)
parameters = entity.get_attr('param', data_type=List[Entity], optional=True)
if parameters is not None:
kwargs['parameters'] = Node.parse_nested_parameters(parameters, parser)
remappings = entity.get_attr('remap', data_type=List[Entity], optional=True)
if remappings is not None:
kwargs['remappings'] = [
(
parser.parse_substitution(remap.get_attr('from')),
parser.parse_substitution(remap.get_attr('to'))
) for remap in remappings
]
for remap in remappings:
remap.assert_entity_completely_parsed()
extra_arguments = entity.get_attr('extra_arg', data_type=List[Entity], optional=True)
if extra_arguments is not None:
kwargs['extra_arguments'] = [
{
tuple(parser.parse_substitution(extra_arg.get_attr('name'))):
parser.parse_substitution(extra_arg.get_attr('value'))
} for extra_arg in extra_arguments
]
for extra_arg in extra_arguments:
extra_arg.assert_entity_completely_parsed()
entity.assert_entity_completely_parsed()
return cls, kwargs
def parse(cls, entity: Entity, parser: Parser):
"""Parse node_container."""
_, kwargs = super().parse(entity, parser)
composable_nodes = entity.get_attr('composable_node',
data_type=List[Entity],
optional=True)
if composable_nodes is not None:
kwargs['composable_node_descriptions'] = []
for entity in composable_nodes:
composable_node_cls, composable_node_kwargs = ComposableNode.parse(
parser, entity)
kwargs['composable_node_descriptions'].append(
composable_node_cls(**composable_node_kwargs))
return cls, kwargs
def parse(cls, entity: Entity, parser: Parser):
"""Return `SetLaunchConfiguration` action and kwargs for constructing it."""
_, kwargs = super().parse(entity, parser)
kwargs['namespace'] = parser.parse_substitution(entity.get_attr('namespace'))
return cls, kwargs
def parse(cls, entity: Entity, parser: Parser):
"""Return `SetParameterFromFile` action and kwargs for constructing it."""
_, kwargs = super().parse(entity, parser)
kwargs['filename'] = parser.parse_substitution(
entity.get_attr('filename'))
return cls, kwargs
def parse(cls, entity: Entity, parser: Parser):
"""Return `SetUseSimTime` action and kwargs for constructing it."""
_, kwargs = super().parse(entity, parser)
kwargs['value'] = parser.parse_substitution(entity.get_attr('value'))
return cls, kwargs
def parse(cls, entity: Entity, parser: Parser):
"""Return `SetVehicleInfo` action and kwargs for constructing it."""
_, kwargs = super().parse(entity, parser)
kwargs['param_file'] = parser.parse_substitution(
entity.get_attr('param_file'))
return cls, kwargs
def parse(cls, entity: Entity, parser: Parser):
"""Return `SetRemap` action and kwargs for constructing it."""
_, kwargs = super().parse(entity, parser)
kwargs['src'] = parser.parse_substitution(entity.get_attr('from'))
kwargs['dst'] = parser.parse_substitution(entity.get_attr('to'))
return cls, kwargs