def __init__(self,
node_name,
*,
cli_args=None,
namespace=None,
use_global_arguments=True):
self._handle = None
self.publishers = []
self.subscriptions = []
self.clients = []
self.services = []
self.timers = []
self.guards = []
self._default_callback_group = MutuallyExclusiveCallbackGroup()
namespace = namespace or ''
if not ok():
raise NotInitializedException('cannot create node')
try:
self._handle = _rclpy.rclpy_create_node(node_name, namespace,
cli_args,
use_global_arguments)
except ValueError:
# these will raise more specific errors if the name or namespace is bad
validate_node_name(node_name)
# emulate what rcl_node_init() does to accept '' and relative namespaces
if not namespace:
namespace = '/'
if not namespace.startswith('/'):
namespace = '/' + namespace
validate_namespace(namespace)
# Should not get to this point
raise RuntimeError('rclpy_create_node failed for unknown reason')
self._logger = get_logger(
_rclpy.rclpy_get_node_logger_name(self.handle))
def _validate_topic_or_service_name(self, topic_or_service_name, *, is_service=False):
name = self.get_name()
namespace = self.get_namespace()
validate_node_name(name)
validate_namespace(namespace)
validate_topic_name(topic_or_service_name, is_service=is_service)
expanded_topic_or_service_name = expand_topic_name(topic_or_service_name, name, namespace)
validate_full_topic_name(expanded_topic_or_service_name, is_service=is_service)
def test_validate_namespace_failures(self):
# namespace must not be empty
with self.assertRaisesRegex(InvalidNamespaceException, 'empty'):
validate_namespace('')
# namespace must start with /
with self.assertRaisesRegex(InvalidNamespaceException,
'must be absolute'):
validate_namespace('invalid_namespace')
def test_validate_namespace(self):
tests = [
'/my_ns',
'/',
]
for topic in tests:
# Will raise if invalid
validate_namespace(topic)
def __init__(
self, node_name, *, context=None, cli_args=None, namespace=None, use_global_arguments=True,
start_parameter_services=True, initial_parameters=None
):
self._handle = None
self._context = get_default_context() if context is None else context
self._parameters = {}
self.publishers = []
self.subscriptions = []
self.clients = []
self.services = []
self.timers = []
self.guards = []
self.waitables = []
self._default_callback_group = MutuallyExclusiveCallbackGroup()
self._parameters_callback = None
namespace = namespace or ''
if not self._context.ok():
raise NotInitializedException('cannot create node')
try:
self._handle = _rclpy.rclpy_create_node(
node_name, namespace, self._context.handle, cli_args, use_global_arguments)
except ValueError:
# these will raise more specific errors if the name or namespace is bad
validate_node_name(node_name)
# emulate what rcl_node_init() does to accept '' and relative namespaces
if not namespace:
namespace = '/'
if not namespace.startswith('/'):
namespace = '/' + namespace
validate_namespace(namespace)
# Should not get to this point
raise RuntimeError('rclpy_create_node failed for unknown reason')
self._logger = get_logger(_rclpy.rclpy_get_node_logger_name(self.handle))
# Clock that has support for ROS time.
# TODO(dhood): use sim time if parameter has been set on the node.
self._clock = ROSClock()
self._time_source = TimeSource(node=self)
self._time_source.attach_clock(self._clock)
self.__executor_weakref = None
self._parameter_event_publisher = self.create_publisher(
ParameterEvent, 'parameter_events', qos_profile=qos_profile_parameter_events)
node_parameters = _rclpy.rclpy_get_node_parameters(Parameter, self.handle)
# Combine parameters from params files with those from the node constructor and
# use the set_parameters_atomically API so a parameter event is published.
if initial_parameters is not None:
node_parameters.update({p.name: p for p in initial_parameters})
self.set_parameters_atomically(node_parameters.values())
if start_parameter_services:
self._parameter_service = ParameterService(self)
def __init__(self,
node_name,
*,
cli_args=None,
namespace=None,
use_global_arguments=True,
start_parameter_services=True):
self._handle = None
self._parameters = {}
self.publishers = []
self.subscriptions = []
self.clients = []
self.services = []
self.timers = []
self.guards = []
self._default_callback_group = MutuallyExclusiveCallbackGroup()
self._parameters_callback = None
namespace = namespace or ''
if not ok():
raise NotInitializedException('cannot create node')
try:
self._handle = _rclpy.rclpy_create_node(node_name, namespace,
cli_args,
use_global_arguments)
except ValueError:
# these will raise more specific errors if the name or namespace is bad
validate_node_name(node_name)
# emulate what rcl_node_init() does to accept '' and relative namespaces
if not namespace:
namespace = '/'
if not namespace.startswith('/'):
namespace = '/' + namespace
validate_namespace(namespace)
# Should not get to this point
raise RuntimeError('rclpy_create_node failed for unknown reason')
self._logger = get_logger(
_rclpy.rclpy_get_node_logger_name(self.handle))
# Clock that has support for ROS time.
# TODO(dhood): use sim time if parameter has been set on the node.
self._clock = ROSClock()
self._time_source = TimeSource(node=self)
self._time_source.attach_clock(self._clock)
self.__executor_weakref = None
if start_parameter_services:
self._parameter_service = ParameterService(self)
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 _is_enclave_name_valid(name: str) -> bool:
# TODO(ivanpauno): Use validate_enclave_name when it's propagated to `rclpy`.
# This is not to bad for the moment.
# Related with https://github.com/ros2/rclpy/issues/528.
try:
return validate_namespace(name)
except InvalidNamespaceException as e:
print(e)
return False
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
def _perform_substitutions(self, context: LaunchContext) -> None:
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.__node_name)
self.__expanded_node_name.lstrip('/')
if self.__node_namespace is not None:
self.__expanded_node_namespace = perform_substitutions(
context,
normalize_to_list_of_substitutions(self.__node_namespace))
if not self.__expanded_node_namespace.startswith('/'):
self.__expanded_node_namespace = '/' + self.__expanded_node_namespace
validate_namespace(self.__expanded_node_namespace)
except Exception:
print(
"Error while expanding or validating node name or namespace for '{}':"
.format(
'package={}, node_executable={}, name={}, namespace={}'.
format(
self.__package,
self.__node_executable,
self.__node_name,
self.__node_namespace,
)))
raise
self.__final_node_name = ''
if self.__expanded_node_namespace not in ['', '/']:
self.__final_node_name += self.__expanded_node_namespace
self.__final_node_name += '/' + self.__expanded_node_name
# expand remappings too
if self.__remappings is not None:
self.__expanded_remappings = {}
for k, v in self.__remappings:
key = perform_substitutions(
context, normalize_to_list_of_substitutions(k))
value = perform_substitutions(
context, normalize_to_list_of_substitutions(v))
self.__expanded_remappings[key] = value
def is_key_name_valid(name):
ns_and_name = name.rsplit('/', 1)
if len(ns_and_name) != 2:
print("The key name needs to start with '/'")
return False
node_ns = ns_and_name[0] if ns_and_name[0] else '/'
node_name = ns_and_name[1]
try:
return (validate_namespace(node_ns) and validate_node_name(node_name))
except (InvalidNamespaceException, InvalidNodeNameException) as e:
print('{}'.format(e))
return False
def _perform_substitutions(self, context: LaunchContext) -> None:
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('/')
self.__expanded_node_namespace = perform_substitutions(
context,
normalize_to_list_of_substitutions(self.__node_namespace))
if not self.__expanded_node_namespace.startswith('/'):
base_ns = context.launch_configurations.get(
'ros_namespace', '')
self.__expanded_node_namespace = (
base_ns + '/' + self.__expanded_node_namespace).rstrip('/')
if (self.__expanded_node_namespace != '' and
not self.__expanded_node_namespace.startswith('/')):
self.__expanded_node_namespace = '/' + self.__expanded_node_namespace
if self.__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={}, node_executable={}, name={}, namespace={}'.
format(
self.__package,
self.__node_executable,
self.__node_name,
self.__node_namespace,
)))
raise
self.__final_node_name = ''
if self.__expanded_node_namespace not in ['', '/']:
self.__final_node_name += self.__expanded_node_namespace
self.__final_node_name += '/' + self.__expanded_node_name
# expand parameters too
if self.__parameters is not None:
self.__expanded_parameter_files = []
evaluated_parameters = evaluate_parameters(context,
self.__parameters)
for params in evaluated_parameters:
if isinstance(params, dict):
param_file_path = self._create_params_file_from_dict(
params)
elif isinstance(params, pathlib.Path):
param_file_path = str(params)
else:
raise RuntimeError(
'invalid normalized parameters {}'.format(
repr(params)))
if not os.path.isfile(param_file_path):
self.__logger.warning(
'Parameter file path is not a file: {}'.format(
param_file_path), )
# Don't skip adding the file to the parameter list since space has been
# reserved for it in the ros_specific_arguments.
self.__expanded_parameter_files.append(param_file_path)
# expand remappings too
if self.__remappings is not None:
self.__expanded_remappings = []
for k, v in self.__remappings:
key = perform_substitutions(
context, normalize_to_list_of_substitutions(k))
value = perform_substitutions(
context, normalize_to_list_of_substitutions(v))
self.__expanded_remappings.append((key, value))
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 __init__(
self,
node_name: str,
*,
context: Context = None,
cli_args: List[str] = None,
namespace: str = None,
use_global_arguments: bool = True,
start_parameter_services: bool = True,
initial_parameters: List[Parameter] = None,
allow_undeclared_parameters: bool = False,
automatically_declare_initial_parameters: bool = True) -> None:
"""
Constructor.
:param node_name: A name to give to this node. Validated by :func:`validate_node_name`.
:param context: The context to be associated with, or ``None`` for the default global
context.
:param cli_args: A list of strings of command line args to be used only by this node.
:param namespace: The namespace to which relative topic and service names will be prefixed.
Validated by :func:`validate_namespace`.
:param use_global_arguments: ``False`` if the node should ignore process-wide command line
args.
:param start_parameter_services: ``False`` if the node should not create parameter
services.
:param initial_parameters: A list of parameters to be set during node creation.
:param allow_undeclared_parameters: True if undeclared parameters are allowed.
This flag affects the behavior of parameter-related operations.
:param automatically_declare_initial_parameters: True if initial parameters have to be
declared upon node creation, false otherwise.
"""
self.__handle = None
self._context = get_default_context() if context is None else context
self._parameters: dict = {}
self.__publishers: List[Publisher] = []
self.__subscriptions: List[Subscription] = []
self.__clients: List[Client] = []
self.__services: List[Service] = []
self.__timers: List[WallTimer] = []
self.__guards: List[GuardCondition] = []
self.__waitables: List[Waitable] = []
self._default_callback_group = MutuallyExclusiveCallbackGroup()
self._parameters_callback = None
self._allow_undeclared_parameters = allow_undeclared_parameters
self._initial_parameters = {}
self._descriptors = {}
namespace = namespace or ''
if not self._context.ok():
raise NotInitializedException('cannot create node')
try:
self.__handle = Handle(
_rclpy.rclpy_create_node(node_name, namespace,
self._context.handle, cli_args,
use_global_arguments))
except ValueError:
# these will raise more specific errors if the name or namespace is bad
validate_node_name(node_name)
# emulate what rcl_node_init() does to accept '' and relative namespaces
if not namespace:
namespace = '/'
if not namespace.startswith('/'):
namespace = '/' + namespace
validate_namespace(namespace)
# Should not get to this point
raise RuntimeError('rclpy_create_node failed for unknown reason')
with self.handle as capsule:
self._logger = get_logger(
_rclpy.rclpy_get_node_logger_name(capsule))
# Clock that has support for ROS time.
self._clock = ROSClock()
self._time_source = TimeSource(node=self)
self._time_source.attach_clock(self._clock)
self.__executor_weakref = None
self._parameter_event_publisher = self.create_publisher(
ParameterEvent,
'parameter_events',
qos_profile=qos_profile_parameter_events)
with self.handle as capsule:
self._initial_parameters = _rclpy.rclpy_get_node_parameters(
Parameter, capsule)
# Combine parameters from params files with those from the node constructor and
# use the set_parameters_atomically API so a parameter event is published.
if initial_parameters is not None:
self._initial_parameters.update(
{p.name: p
for p in initial_parameters})
if automatically_declare_initial_parameters:
self._parameters.update(self._initial_parameters)
self._descriptors.update(
{p: ParameterDescriptor()
for p in self._parameters})
if start_parameter_services:
self._parameter_service = ParameterService(self)
def _perform_substitutions(self, context: LaunchContext) -> None:
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 = 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)
if base_ns is not None or expanded_node_namespace is not None:
if expanded_node_namespace is None:
expanded_node_namespace = ''
if base_ns is None:
base_ns = ''
if not expanded_node_namespace.startswith('/'):
expanded_node_namespace = (
base_ns + '/' + expanded_node_namespace).rstrip('/')
if not expanded_node_namespace.startswith('/'):
expanded_node_namespace = '/' + expanded_node_namespace
self.__expanded_node_namespace = expanded_node_namespace
if expanded_node_namespace is not None:
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 = ''
if self.__expanded_node_namespace != '/':
self.__final_node_name += self.__expanded_node_namespace
self.__final_node_name += '/' + 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_files = []
if global_params is not None:
param_file_path = self._create_params_file_from_dict(global_params)
self.__expanded_parameter_files.append(param_file_path)
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 i, params in enumerate(evaluated_parameters):
if isinstance(params, dict):
param_file_path = self._create_params_file_from_dict(
params)
assert os.path.isfile(param_file_path)
elif isinstance(params, pathlib.Path):
param_file_path = str(params)
else:
raise RuntimeError(
'invalid normalized parameters {}'.format(
repr(params)))
if not os.path.isfile(param_file_path):
self.__logger.warning(
'Parameter file path is not a file: {}'.format(
param_file_path), )
continue
self.__expanded_parameter_files.append(param_file_path)
cmd_extension = ['--params-file', f'{param_file_path}']
self.cmd.extend([
normalize_to_list_of_substitutions(x)
for x in cmd_extension
])
# expand remappings too
if self.__remappings is not None:
self.__expanded_remappings = []
for k, v in self.__remappings:
key = perform_substitutions(
context, normalize_to_list_of_substitutions(k))
value = perform_substitutions(
context, normalize_to_list_of_substitutions(v))
self.__expanded_remappings.append((key, value))
def _perform_substitutions(self, context: LaunchContext) -> None:
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('/')
if self.__node_namespace is not None:
self.__expanded_node_namespace = perform_substitutions(
context,
normalize_to_list_of_substitutions(self.__node_namespace))
if not self.__expanded_node_namespace.startswith('/'):
self.__expanded_node_namespace = '/' + self.__expanded_node_namespace
validate_namespace(self.__expanded_node_namespace)
except Exception:
_logger.error(
"Error while expanding or validating node name or namespace for '{}':"
.format(
'package={}, node_executable={}, name={}, namespace={}'.
format(
self.__package,
self.__node_executable,
self.__node_name,
self.__node_namespace,
)))
raise
self.__final_node_name = ''
if self.__expanded_node_namespace not in ['', '/']:
self.__final_node_name += self.__expanded_node_namespace
self.__final_node_name += '/' + self.__expanded_node_name
# expand parameters too
if self.__parameters is not None:
self.__expanded_parameter_files = []
for params in self.__parameters:
if isinstance(params, dict):
param_file_path = self._create_params_file_from_dict(
context, params)
else:
if isinstance(params, pathlib.Path):
param_file_path = str(params)
else:
param_file_path = perform_substitutions(
context,
normalize_to_list_of_substitutions(params))
if not os.path.isfile(param_file_path):
_logger.warn(
'Parameter file path is not a file: {}'.format(
param_file_path))
# Don't skip adding the file to the parameter list since space has been
# reserved for it in the ros_specific_arguments.
self.__expanded_parameter_files.append(param_file_path)
# expand remappings too
if self.__remappings is not None:
self.__expanded_remappings = []
for k, v in self.__remappings:
key = perform_substitutions(
context, normalize_to_list_of_substitutions(k))
value = perform_substitutions(
context, normalize_to_list_of_substitutions(v))
self.__expanded_remappings.append((key, value))