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Merged
cottsay merged 1 commit into from
Jun 24, 2019
Merged

Use wildcard syntax in generated parameter YAML files #35

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9 changes: 1 addition & 8 deletions launch_ros/launch_ros/actions/node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,6 @@

"""Module for the Node action."""

from collections.abc import Mapping
import os
import pathlib
from tempfile import NamedTemporaryFile
Expand Down Expand Up @@ -139,10 +138,6 @@ def __init__(
# evaluate to paths), or dictionaries of parameters (fields can be substitutions).
i = 0
for param in parameters:
if isinstance(param, Mapping) and node_name is None:
raise RuntimeError(
'If a dictionary of parameters is specified, the node name must also be '
'specified. See https://github.com/ros2/launch/issues/139')
i += 1
cmd += [LocalSubstitution(
'ros_specific_arguments[{}]'.format(ros_args_index),
Expand Down Expand Up @@ -188,9 +183,7 @@ def _create_params_file_from_dict(self, params):
with NamedTemporaryFile(mode='w', prefix='launch_params_', delete=False) as h:
param_file_path = h.name
# TODO(dhood): clean up generated parameter files.
param_dict = {self.__expanded_node_name: {'ros__parameters': params}}
if self.__expanded_node_namespace:
param_dict = {self.__expanded_node_namespace: param_dict}
param_dict = {'/**': {'ros__parameters': params}}
yaml.dump(param_dict, h, default_flow_style=False)
return param_file_path

Expand Down
28 changes: 13 additions & 15 deletions test_launch_ros/test/test_launch_ros/actions/test_node.py
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Expand Up @@ -162,14 +162,12 @@ def test_launch_node_with_parameter_dict(self):
with open(expanded_parameter_files[0], 'r') as h:
expanded_parameters_dict = yaml.load(h)
assert expanded_parameters_dict == {
'/my_ns': {
'my_node': {
'ros__parameters': {
'param1': 'param1_value',
'param2': 'param2_value',
'param_group1.list_params': (1.2, 3.4),
'param_group1.param_group2.param2_values': ('param2_value',),
}
'/**': {
'ros__parameters': {
'param1': 'param1_value',
'param2': 'param2_value',
'param_group1.list_params': (1.2, 3.4),
'param_group1.param_group2.param2_values': ('param2_value',),
}
}
}
Expand All @@ -183,13 +181,13 @@ def test_create_node_with_invalid_parameters(self):
self._assert_type_error_creating_node(
parameters=str(parameter_file_path)) # Valid path, but not in a list.

# If a parameter dictionary is specified, the node name must be also.
with self.assertRaisesRegex(RuntimeError, 'node name must also be specified'):
launch_ros.actions.Node(
package='demo_nodes_py', node_executable='talker_qos', output='screen',
arguments=['--number_of_cycles', '1'],
parameters=[{'my_param': 'value'}],
)
# If a parameter dictionary is specified, the node name is no longer required.
node_action = launch_ros.actions.Node(
package='demo_nodes_py', node_executable='talker_qos', output='screen',
arguments=['--number_of_cycles', '1'],
parameters=[{'my_param': 'value'}],
)
self._assert_launch_no_errors([node_action])

def test_launch_node_with_invalid_parameter_dicts(self):
"""Test launching a node with invalid parameter dicts."""
Expand Down