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 _perform_substitutions(self, context: LaunchContext) -> None:
# Here to avoid cyclic import
from ..descriptions import Parameter
try:
if self.__substitutions_performed:
# This function may have already been called by a subclass' `execute`, for example.
return
self.__substitutions_performed = True
if self.__node_name is not None:
self.__expanded_node_name = perform_substitutions(
context, normalize_to_list_of_substitutions(self.__node_name))
validate_node_name(self.__expanded_node_name)
self.__expanded_node_name.lstrip('/')
expanded_node_namespace: Optional[Text] = None
if self.__node_namespace is not None:
expanded_node_namespace = perform_substitutions(
context, normalize_to_list_of_substitutions(self.__node_namespace))
base_ns = context.launch_configurations.get('ros_namespace', None)
expanded_node_namespace = make_namespace_absolute(
prefix_namespace(base_ns, expanded_node_namespace))
if expanded_node_namespace is not None:
self.__expanded_node_namespace = expanded_node_namespace
cmd_extension = ['-r', LocalSubstitution("ros_specific_arguments['ns']")]
self.cmd.extend([normalize_to_list_of_substitutions(x) for x in cmd_extension])
validate_namespace(self.__expanded_node_namespace)
except Exception:
self.__logger.error(
"Error while expanding or validating node name or namespace for '{}':"
.format('package={}, executable={}, name={}, namespace={}'.format(
self.__package,
self.__node_executable,
self.__node_name,
self.__node_namespace,
))
)
raise
self.__final_node_name = prefix_namespace(
self.__expanded_node_namespace, self.__expanded_node_name)
# expand global parameters first,
# so they can be overriden with specific parameters of this Node
global_params = context.launch_configurations.get('ros_params', None)
if global_params is not None or self.__parameters is not None:
self.__expanded_parameter_arguments = []
if global_params is not None:
param_file_path = self._create_params_file_from_dict(global_params)
self.__expanded_parameter_arguments.append((param_file_path, True))
cmd_extension = ['--params-file', f'{param_file_path}']
self.cmd.extend([normalize_to_list_of_substitutions(x) for x in cmd_extension])
assert os.path.isfile(param_file_path)
# expand parameters too
if self.__parameters is not None:
evaluated_parameters = evaluate_parameters(context, self.__parameters)
for params in evaluated_parameters:
is_file = False
if isinstance(params, dict):
param_argument = self._create_params_file_from_dict(params)
is_file = True
assert os.path.isfile(param_argument)
elif isinstance(params, pathlib.Path):
param_argument = str(params)
is_file = True
elif isinstance(params, Parameter):
param_argument = self._get_parameter_rule(params, context)
else:
raise RuntimeError('invalid normalized parameters {}'.format(repr(params)))
if is_file and not os.path.isfile(param_argument):
self.__logger.warning(
'Parameter file path is not a file: {}'.format(param_argument),
)
continue
self.__expanded_parameter_arguments.append((param_argument, is_file))
cmd_extension = ['--params-file' if is_file else '-p', f'{param_argument}']
self.cmd.extend([normalize_to_list_of_substitutions(x) for x in cmd_extension])
# expand remappings too
global_remaps = context.launch_configurations.get('ros_remaps', None)
if global_remaps or self.__remappings:
self.__expanded_remappings = []
if global_remaps:
self.__expanded_remappings.extend(global_remaps)
if self.__remappings:
self.__expanded_remappings.extend([
(perform_substitutions(context, src), perform_substitutions(context, dst))
for src, dst in self.__remappings
])
if self.__expanded_remappings:
cmd_extension = []
for src, dst in self.__expanded_remappings:
cmd_extension.extend(['-r', f'{src}:={dst}'])
self.cmd.extend([normalize_to_list_of_substitutions(x) for x in cmd_extension])
def test_prefix_namespace():
assert prefix_namespace(None, None) is None
assert prefix_namespace('asd', None) == 'asd'
assert prefix_namespace('/asd', None) == '/asd'
assert prefix_namespace('', None) == ''
assert prefix_namespace('/', None) == '/'
assert prefix_namespace(None, 'asd') == 'asd'
assert prefix_namespace(None, '/asd') == '/asd'
assert prefix_namespace(None, '') == ''
assert prefix_namespace(None, '/') == '/'
assert prefix_namespace('asd', 'bsd') == 'asd/bsd'
assert prefix_namespace('asd', '/bsd') == '/bsd'
assert prefix_namespace('/asd', 'bsd') == '/asd/bsd'
assert prefix_namespace('/asd', '/bsd') == '/bsd'
assert prefix_namespace('/', 'bsd') == '/bsd'
assert prefix_namespace('', 'bsd') == 'bsd'
assert prefix_namespace('asd', '') == 'asd'
assert prefix_namespace('asd', 'bsd/') == 'asd/bsd'
assert prefix_namespace('asd', '/bsd/') == '/bsd'
