def execute(self, context: LaunchContext) -> Optional[List[Action]]:
"""
Execute the action.
Delegated to :meth:`launch.actions.ExecuteProcess.execute`.
"""
self._perform_substitutions(context)
# Prepare the ros_specific_arguments list and add it to the context so that the
# LocalSubstitution placeholders added to the the cmd can be expanded using the contents.
ros_specific_arguments: Dict[str, Union[str, List[str]]] = {}
if self.__node_name is not None:
ros_specific_arguments['name'] = '__node:={}'.format(self.__expanded_node_name)
if self.__expanded_node_namespace != '':
ros_specific_arguments['ns'] = '__ns:={}'.format(self.__expanded_node_namespace)
context.extend_locals({'ros_specific_arguments': ros_specific_arguments})
ret = super().execute(context)
if self.is_node_name_fully_specified():
add_node_name(context, self.node_name)
node_name_count = get_node_name_count(context, self.node_name)
if node_name_count > 1:
execute_process_logger = launch.logging.get_logger(self.name)
execute_process_logger.warning(
'there are now at least {} nodes with the name {} created within this '
'launch context'.format(node_name_count, self.node_name)
)
return ret
def test_node_name_count():
lc = LaunchContext()
add_node_name(lc, 'node_name_1')
add_node_name(lc, 'node_name_1')
add_node_name(lc, 'node_name_2')
assert get_node_name_count(lc, 'node_name_1') == 2
assert get_node_name_count(lc, 'node_name_2') == 1
assert get_node_name_count(lc, 'node_name_3') == 0