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
def test_launch_node_with_name_without_namespace():
node = Node(
package='demo_nodes_py',
node_executable='listener_qos',
node_name=TEST_NODE_NAME,
output='screen',
)
ld = LaunchDescription([node])
context = _launch(ld)
assert get_node_name_count(context, f'{TEST_NODE_NAMESPACE}/{TEST_NODE_NAME}') == 0
assert get_node_name_count(context, f'/{TEST_NODE_NAME}') == 1
def test_launch_node_without_name():
node = Node(
package='demo_nodes_py',
node_executable='listener_qos',
node_namespace=TEST_NODE_NAMESPACE,
output='screen',
)
ld = LaunchDescription([node])
context = _launch(ld)
# For Nodes, when node_name is omitted, launch_ros is unable to track it
assert get_node_name_count(context, f'{TEST_NODE_NAMESPACE}/{TEST_NODE_NAME}') == 0
assert get_node_name_count(context, f'/{TEST_NODE_NAME}') == 0
def test_composable_node_container_empty_list_of_nodes():
"""Test launching a ComposableNodeContainer with an empty list of nodes."""
actions = [
ComposableNodeContainer(package='rclcpp_components',
executable='component_container',
name=TEST_CONTAINER_NAME,
namespace=TEST_CONTAINER_NAMESPACE,
composable_node_descriptions=[]),
]
context = _assert_launch_no_errors(actions)
assert get_node_name_count(
context, f'/{TEST_CONTAINER_NAMESPACE}/{TEST_CONTAINER_NAME}') == 1
assert get_node_name_count(context,
f'/{TEST_NODE_NAMESPACE}/{TEST_NODE_NAME}') == 0
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_load_node_with_namespace_in_group(mock_component_container):
"""Test loading a node with namespace scoped to a group."""
context = _assert_launch_no_errors([
GroupAction(
[
PushRosNamespace('foo'),
_load_composable_node(
package='foo_package',
plugin='bar_plugin',
name='test_node_name',
namespace='test_node_namespace'
),
],
scoped=True,
),
])
# Check that launch is aware of loaded component
assert get_node_name_count(context, '/foo/test_node_namespace/test_node_name') == 1
# Check that container recieved correct request
assert len(mock_component_container.requests) == 1
request = mock_component_container.requests[0]
assert request.package_name == 'foo_package'
assert request.plugin_name == 'bar_plugin'
assert request.node_name == 'test_node_name'
assert request.node_namespace == '/foo/test_node_namespace'
assert len(request.remap_rules) == 0
assert len(request.parameters) == 0
assert len(request.extra_arguments) == 0
def test_load_node_with_params(mock_component_container):
"""Test loading a node with parameters."""
context = _assert_launch_no_errors([
_load_composable_node(
package='foo_package',
plugin='bar_plugin',
name='test_node_name',
namespace='test_node_namespace',
parameters=[{
'test_param1': 'test_value_param1',
'test.param2': 42.0,
}]
)
])
# Check that launch is aware of loaded component
assert get_node_name_count(context, '/test_node_namespace/test_node_name') == 1
# Check that container recieved correct request
assert len(mock_component_container.requests) == 1
request = mock_component_container.requests[0]
assert request.package_name == 'foo_package'
assert request.plugin_name == 'bar_plugin'
assert request.node_name == 'test_node_name'
assert request.node_namespace == '/test_node_namespace'
assert len(request.remap_rules) == 0
assert len(request.parameters) == 2
assert request.parameters[0].name == 'test_param1'
assert request.parameters[0].value.type == ParameterType.PARAMETER_STRING
assert request.parameters[0].value.string_value == 'test_value_param1'
assert request.parameters[1].name == 'test.param2'
assert request.parameters[1].value.type == ParameterType.PARAMETER_DOUBLE
assert request.parameters[1].value.double_value == 42.0
assert len(request.extra_arguments) == 0
def test_load_node_with_remaps(mock_component_container):
"""Test loading a node with remappings."""
context = _assert_launch_no_errors([
_load_composable_node(
package='foo_package',
plugin='bar_plugin',
name='test_node_name',
namespace='test_node_namespace',
remappings=[
('test_topic1', 'test_remap_topic1'),
('test/topic/two', 'test/remap_topic2')
]
)
])
# Check that launch is aware of loaded component
assert get_node_name_count(context, '/test_node_namespace/test_node_name') == 1
# Check that container recieved correct request
assert len(mock_component_container.requests) == 1
request = mock_component_container.requests[0]
assert request.package_name == 'foo_package'
assert request.plugin_name == 'bar_plugin'
assert request.node_name == 'test_node_name'
assert request.node_namespace == '/test_node_namespace'
assert len(request.remap_rules) == 2
assert request.remap_rules[0] == 'test_topic1:=test_remap_topic1'
assert request.remap_rules[1] == 'test/topic/two:=test/remap_topic2'
assert len(request.parameters) == 0
assert len(request.extra_arguments) == 0
def test_launch_composable_node_without_component_name():
node = ComposableNodeContainer(package='rclcpp_components',
executable='component_container',
node_name=TEST_NODE_NAME,
node_namespace=TEST_NODE_NAMESPACE,
composable_node_descriptions=[
ComposableNode(
package='composition',
node_plugin='composition::Listener',
node_namespace=TEST_NODE_NAMESPACE)
],
output='screen')
ld = LaunchDescription([node])
context = _launch(ld)
assert get_node_name_count(context,
f'{TEST_NODE_NAMESPACE}/{TEST_NODE_NAME}') == 1
# Unlike for Nodes, launch_ros is able to track component node names even when
# node_name is not provided for the component
assert get_node_name_count(context, f'{TEST_NODE_NAMESPACE}/listener') == 1
def test_launch_nodes_with_same_names(pytestconfig):
node1 = Node(
package='demo_nodes_py',
node_executable='listener_qos',
node_name=TEST_NODE_NAME,
node_namespace=TEST_NODE_NAMESPACE,
output='screen',
)
node2 = LifecycleNode(
package='lifecycle',
node_executable='lifecycle_listener',
node_name=TEST_NODE_NAME,
node_namespace=TEST_NODE_NAMESPACE,
output='screen',
)
node3 = ComposableNodeContainer(
package='rclcpp_components',
node_executable='component_container',
node_name=TEST_NODE_NAME,
node_namespace=TEST_NODE_NAMESPACE,
composable_node_descriptions=[
ComposableNode(
package='composition',
node_plugin='composition::Listener',
node_name=TEST_NODE_NAME
)
],
output='screen'
)
ld = LaunchDescription([node1, node2, node3])
context = _launch(ld)
captured = pytestconfig.pluginmanager.getplugin('capturemanager').read_global_capture()
assert get_node_name_count(context, f'{TEST_NODE_NAMESPACE}/{TEST_NODE_NAME}') == 3
expected_line = f'there are now at least 3 nodes with the name {TEST_NODE_NAMESPACE}' \
f'/{TEST_NODE_NAME} created within this launch context'
assert expected_line in captured.out
assert get_node_name_count(context, f'/{TEST_NODE_NAME}') == 1
def test_launch_nodes_with_different_names():
node1 = Node(
package='demo_nodes_py',
executable='listener_qos',
node_name=f'{TEST_NODE_NAME}_1',
node_namespace=TEST_NODE_NAMESPACE,
output='screen',
)
node2 = LifecycleNode(
package='lifecycle',
executable='lifecycle_listener',
node_name=f'{TEST_NODE_NAME}_2',
node_namespace=TEST_NODE_NAMESPACE,
output='screen',
)
node3 = ComposableNodeContainer(
package='rclcpp_components',
executable='component_container',
node_name=f'{TEST_NODE_NAME}_3',
node_namespace=TEST_NODE_NAMESPACE,
composable_node_descriptions=[
ComposableNode(
package='composition',
node_plugin='composition::Listener',
node_name=f'{TEST_NODE_NAME}_4',
)
],
output='screen')
ld = LaunchDescription([node1, node2, node3])
context = _launch(ld)
assert get_node_name_count(
context, f'{TEST_NODE_NAMESPACE}/{TEST_NODE_NAME}_1') == 1
assert get_node_name_count(
context, f'{TEST_NODE_NAMESPACE}/{TEST_NODE_NAME}_2') == 1
assert get_node_name_count(
context, f'{TEST_NODE_NAMESPACE}/{TEST_NODE_NAME}_3') == 1
assert get_node_name_count(context, f'/{TEST_NODE_NAME}_4') == 1
def test_composable_node_container_in_group_with_launch_configuration_in_description(
):
"""
Test launch configuration is passed to ComposableNode description inside GroupAction.
This is a regression test for #114.
"""
actions = [
GroupAction([
DeclareLaunchArgument(name='test_arg', default_value='True'),
ComposableNodeContainer(
package='rclcpp_components',
executable='component_container',
name=TEST_CONTAINER_NAME,
namespace=TEST_CONTAINER_NAMESPACE,
composable_node_descriptions=[
ComposableNode(
package='composition',
plugin='composition::Listener',
name=TEST_NODE_NAME,
namespace=TEST_NODE_NAMESPACE,
parameters=[{
'use_sim_time':
LaunchConfiguration('test_arg')
}],
)
],
),
],
scoped=True),
]
context = _assert_launch_no_errors(actions)
assert get_node_name_count(
context, f'/{TEST_CONTAINER_NAMESPACE}/{TEST_CONTAINER_NAME}') == 1
assert get_node_name_count(context,
f'/{TEST_NODE_NAMESPACE}/{TEST_NODE_NAME}') == 1
def test_composable_node_container():
"""Nominal test for launching a ComposableNodeContainer."""
actions = [
ComposableNodeContainer(
package='rclcpp_components',
executable='component_container',
name=TEST_CONTAINER_NAME,
namespace=TEST_CONTAINER_NAMESPACE,
composable_node_descriptions=[
ComposableNode(
package='composition',
plugin='composition::Listener',
name=TEST_NODE_NAME,
namespace=TEST_NODE_NAMESPACE,
)
],
),
]
context = _assert_launch_no_errors(actions)
assert get_node_name_count(
context, f'/{TEST_CONTAINER_NAMESPACE}/{TEST_CONTAINER_NAME}') == 1
assert get_node_name_count(context,
f'/{TEST_NODE_NAMESPACE}/{TEST_NODE_NAME}') == 1
def test_load_node(mock_component_container):
"""Test loading a node."""
context = _assert_launch_no_errors([
_load_composable_node(package='foo_package',
plugin='bar_plugin',
name='test_node_name',
namespace='test_node_namespace')
])
# Check that launch is aware of loaded component
assert get_node_name_count(context,
'/test_node_namespace/test_node_name') == 1
# Check that container recieved correct request
assert len(mock_component_container.requests) == 1
request = mock_component_container.requests[0]
assert request.package_name == 'foo_package'
assert request.plugin_name == 'bar_plugin'
assert request.node_name == 'test_node_name'
assert request.node_namespace == '/test_node_namespace'
assert len(request.remap_rules) == 0
assert len(request.parameters) == 0
assert len(request.extra_arguments) == 0
def test_load_node_with_param_file(mock_component_container):
"""Test loading a node with with parameters specified in yaml files."""
parameters_file_dir = pathlib.Path(__file__).resolve().parent
# Case 1: no node name in yaml file
context = _assert_launch_no_errors([
_load_composable_node(
package='foo_package',
plugin='bar_plugin',
name='test_node_name',
namespace='test_node_namespace',
parameters=[
parameters_file_dir / 'example_parameters_no_name.yaml'
],
)
])
request = mock_component_container.requests[0]
assert get_node_name_count(context, '/test_node_namespace/test_node_name') == 1
assert request.node_name == 'test_node_name'
assert request.node_namespace == '/test_node_namespace'
assert len(request.parameters) == 2
assert request.parameters[0].name == 'some_int'
assert request.parameters[0].value.integer_value == 42
assert request.parameters[1].name == 'a_string'
assert request.parameters[1].value.string_value == 'Hello world'
# Case 2: node name with namespace
context = _assert_launch_no_errors([
_load_composable_node(
package='foo_package',
plugin='bar_plugin',
name='test_node_name',
namespace='ns',
parameters=[
parameters_file_dir / 'example_parameters_namespace.yaml'
],
)
])
request = mock_component_container.requests[1]
assert get_node_name_count(context, '/ns/test_node_name') == 1
assert request.node_name == 'test_node_name'
assert request.node_namespace == '/ns'
assert len(request.parameters) == 1
assert request.parameters[0].name == 'param'
assert request.parameters[0].value.integer_value == 1
# Case 3: nested node name with namespace
context = _assert_launch_no_errors([
_load_composable_node(
package='foo_package',
plugin='bar_plugin',
name='my_node',
namespace='my_ns',
parameters=[
parameters_file_dir / 'example_parameters_nested_namespace.yaml'
],
)
])
request = mock_component_container.requests[2]
assert get_node_name_count(context, '/my_ns/my_node') == 1
assert request.node_name == 'my_node'
assert request.node_namespace == '/my_ns'
assert len(request.parameters) == 5
assert request.parameters[0].name == 'some_int'
assert request.parameters[0].value.integer_value == 42
assert request.parameters[1].name == 'a_string'
assert request.parameters[1].value.string_value == 'Hello world'
assert request.parameters[2].value.string_value == ''
# Case 4: node name without namespace
context = _assert_launch_no_errors([
_load_composable_node(
package='foo_package',
plugin='bar_plugin',
name='test_node_name',
namespace='',
parameters=[
parameters_file_dir / 'example_parameters_no_namespace.yaml'
],
)
])
request = mock_component_container.requests[3]
assert get_node_name_count(context, '//test_node_name') == 1
assert request.node_name == 'test_node_name'
assert request.node_namespace == '/'
assert len(request.parameters) == 1
assert request.parameters[0].name == 'param'
assert request.parameters[0].value.integer_value == 2
# Case 5: wildcard
context = _assert_launch_no_errors([
_load_composable_node(
package='foo_package',
plugin='bar_plugin',
name='my_node',
namespace='wildcard_ns',
parameters=[
parameters_file_dir / 'example_parameters_wildcard.yaml'
],
)
])
request = mock_component_container.requests[4]
assert get_node_name_count(context, '/wildcard_ns/my_node') == 1
assert request.node_name == 'my_node'
assert request.node_namespace == '/wildcard_ns'
assert len(request.parameters) == 1
assert request.parameters[0].name == 'param'
assert request.parameters[0].value.string_value == 'wildcard'
# Case 6: multiple entries (params with node name should take precedence over wildcard params)
context = _assert_launch_no_errors([
_load_composable_node(
package='foo_package',
plugin='bar_plugin',
name='node_1',
namespace='ns_1',
parameters=[
parameters_file_dir / 'example_parameters_multiple_entries.yaml'
],
),
_load_composable_node(
package='foo_package',
plugin='bar_plugin',
name='node_2',
namespace='ns_2',
parameters=[
parameters_file_dir / 'example_parameters_multiple_entries.yaml'
],
)
])
request = mock_component_container.requests[5]
assert get_node_name_count(context, '/ns_1/node_1') == 1
assert request.node_name == 'node_1'
assert request.node_namespace == '/ns_1'
assert len(request.parameters) == 3
assert request.parameters[0].name == 'param_2'
assert request.parameters[0].value.integer_value == 2
assert request.parameters[1].name == 'param_3'
assert request.parameters[1].value.integer_value == 33
assert request.parameters[2].name == 'param_1'
assert request.parameters[2].value.integer_value == 1
request = mock_component_container.requests[6]
assert get_node_name_count(context, '/ns_2/node_2') == 1
assert request.node_name == 'node_2'
assert request.node_namespace == '/ns_2'
assert len(request.parameters) == 2
assert request.parameters[0].name == 'param_2'
assert request.parameters[0].value.integer_value == 22
assert request.parameters[1].name == 'param_3'
assert request.parameters[1].value.integer_value == 3
# Case 7: node name not found
context = _assert_launch_no_errors([
_load_composable_node(
package='foo_package',
plugin='bar_plugin',
name='wrong_node_name',
namespace='ns',
parameters=[
parameters_file_dir / 'example_parameters_no_namespace.yaml'
],
)
])
request = mock_component_container.requests[7]
assert get_node_name_count(context, '/ns/wrong_node_name') == 1
assert request.node_name == 'wrong_node_name'
assert request.node_namespace == '/ns'
assert len(request.parameters) == 0