def evaluate(self, context: LaunchContext) -> Path:
"""Evaluate and return a parameter file path."""
if self.__evaluated_param_file is not None:
return self.__evaluated_param_file
param_file = self.__param_file
if isinstance(param_file, list):
# list of substitutions
param_file = perform_substitutions(context, self.__param_file)
allow_substs = perform_typed_substitution(context,
self.__allow_substs,
data_type=bool)
param_file_path: Path = Path(param_file)
if allow_substs:
with open(param_file_path,
'r') as f, NamedTemporaryFile(mode='w',
prefix='launch_params_',
delete=False) as h:
parsed = perform_substitutions(context,
parse_substitution(f.read()))
try:
yaml.safe_load(parsed)
except Exception:
raise SubstitutionFailure(
'The substituted parameter file is not a valid yaml file'
)
h.write(parsed)
param_file_path = Path(h.name)
self.__created_tmp_file = True
self.__evaluated_param_file = param_file_path
return param_file_path
def execute(self, context: LaunchContext):
"""Execute the action."""
pushed_namespace = perform_substitutions(context, self.namespace)
previous_namespace = context.launch_configurations.get(
'ros_namespace', None)
namespace = make_namespace_absolute(
prefix_namespace(previous_namespace, pushed_namespace))
try:
validate_namespace(namespace)
except Exception:
raise SubstitutionFailure(
'The resulting namespace is invalid:'
" [previous_namespace='{}', pushed_namespace='{}']".format(
previous_namespace, pushed_namespace))
context.launch_configurations['ros_namespace'] = namespace
def execute(self, context: LaunchContext):
"""Execute the action."""
pushed_namespace = perform_substitutions(context, self.namespace)
previous_namespace = context.launch_configurations.get(
'ros_namespace', '')
namespace = pushed_namespace
if not pushed_namespace.startswith('/'):
namespace = previous_namespace + '/' + pushed_namespace
namespace = namespace.rstrip('/')
if namespace != '':
try:
validate_namespace(namespace)
except Exception:
raise SubstitutionFailure(
'The resulting namespace is invalid:'
" [previous_namespace='{}', pushed_namespace='{}']".format(
previous_namespace, pushed_namespace))
context.launch_configurations['ros_namespace'] = namespace