Improve node name handling, unit test fixes, more

Distro A; OPSEC #4584

Signed-off-by: Roger Strain <[email protected]>

Author: Roger Strain

launch_ros/launch_ros/actions/node.py

@@ -125,10 +125,6 @@ def __init__(
                                         nodes=[self.__node_desc], **ros_exec_kwargs)
         super().__init__(process_description=self.__ros_exec, **kwargs)
 
-    def prepare(self, context: LaunchContext):
-        self.__node_desc.prepare(context, self.__ros_exec, self)
-        super().prepare(context)
-
     def is_node_name_fully_specified(self):
         return self.__node_desc.is_node_name_fully_specified()
 
@@ -244,6 +240,11 @@ def node_name(self):
         """Getter for node_name."""
         return self.__node_desc.node_name
 
+    @property
+    def ros_exec(self):
+        """Getter for ros_exec."""
+        return self.__ros_exec
+
     @property
     def expanded_node_namespace(self):
         """Getter for expanded_node_namespace."""

launch_ros/launch_ros/descriptions/node.py

@@ -74,17 +74,14 @@ def __init__(
         self, *,
         node_name: Optional[SomeSubstitutionsType] = None,
         node_namespace: Optional[SomeSubstitutionsType] = None,
+        original_node_name: Optional[SomeSubstitutionsType] = None,
         parameters: Optional[SomeParameters] = None,
         remappings: Optional[SomeRemapRules] = None,
         traits: Optional[Iterable[NodeTrait]] = None,
         **kwargs
     ) -> None:
         """
-        Construct an Node description.
-
-        Many arguments are passed eventually to
-        :class:`launch.actions.ExecuteProcess`, so see the documentation of
-        that class for additional details.
+        Construct a Node description.
 
         If the node name is not given (or is None) then no name is passed to
         the node on creation and instead the default name specified within the
@@ -117,6 +114,9 @@ def __init__(
 
         :param: node_name the name of the node
         :param: node_namespace the ROS namespace for this Node
+        :param: original_node_name the name of the node before remapping; if not specified,
+            remappings/parameters (including node name/namespace changes) may be applied
+            to all nodes which share a command line executable with this one
         :param: parameters list of names of yaml files with parameter rules,
             or dictionaries of parameters.
         :param: remappings ordered list of 'to' and 'from' string pairs to be
@@ -131,12 +131,14 @@ def __init__(
 
         self.__node_name = node_name
         self.__node_namespace = node_namespace
+        self.__original_node_name = original_node_name
         self.__parameters = [] if parameters is None else normalized_params
         self.__remappings = [] if remappings is None else list(normalize_remap_rules(remappings))
         self.__traits = traits
 
         self.__expanded_node_name = self.UNSPECIFIED_NODE_NAME
         self.__expanded_node_namespace = self.UNSPECIFIED_NODE_NAMESPACE
+        self.__expanded_original_node_name = self.UNSPECIFIED_NODE_NAME
         self.__expanded_parameter_arguments = None  # type: Optional[List[Tuple[Text, bool]]]
         self.__final_node_name = None  # type: Optional[Text]
         self.__expanded_remappings = None  # type: Optional[List[Tuple[Text, Text]]]
@@ -157,6 +159,11 @@ def node_namespace(self):
         """Getter for node_namespace."""
         return self.__node_namespace
 
+    @property
+    def original_node_name(self):
+        """Getter for original_node_name."""
+        return self.__original_node_name
+
     @property
     def parameters(self):
         """Getter for parameters."""
@@ -245,6 +252,10 @@ def _perform_substitutions(self, context: LaunchContext, cmd: List) -> None:
                 cmd_ext = ['-r', LocalSubstitution("ros_specific_arguments['ns']")]
                 cmd.extend([normalize_to_list_of_substitutions(x) for x in cmd_ext])
                 validate_namespace(self.__expanded_node_namespace)
+            if self.__original_node_name is not None:
+                self.__expanded_original_node_name = perform_substitutions(
+                    context, normalize_to_list_of_substitutions(self.__original_node_name))
+            self.__expanded_node_name.lstrip('/')
         except Exception:
             self.__logger.error(
                 "Error while expanding or validating node name or namespace for '{}':"
@@ -310,10 +321,17 @@ def _perform_substitutions(self, context: LaunchContext, cmd: List) -> None:
         # 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]]] = {}
+        original_name_prefix = ""
+        if self.__expanded_original_node_name is not self.UNSPECIFIED_NODE_NAME:
+            original_name_prefix = '{}:'.format(self.__expanded_original_node_name)
         if self.__node_name is not None:
-            ros_specific_arguments['name'] = '__node:={}'.format(self.__expanded_node_name)
+            ros_specific_arguments['name'] = '{}__node:={}'.format(
+                original_name_prefix, self.__expanded_node_name
+            )
         if self.__expanded_node_namespace != '':
-            ros_specific_arguments['ns'] = '__ns:={}'.format(self.__expanded_node_namespace)
+            ros_specific_arguments['ns'] = '{}__ns:={}'.format(
+                original_name_prefix, self.__expanded_node_namespace
+            )
         context.extend_locals({'ros_specific_arguments': ros_specific_arguments})
 
         if self.is_node_name_fully_specified():
@@ -324,4 +342,4 @@ def _perform_substitutions(self, context: LaunchContext, cmd: List) -> None:
                 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)
-                )
+                )

launch_ros/launch_ros/descriptions/node_trait.py

@@ -47,3 +47,4 @@ def __init__(self) -> None:
 
     def prepare(self, node: 'Node', context: LaunchContext, action: Action):
         """Perform any actions necessary to prepare the node for execution."""
+        pass

test_launch_ros/test/test_launch_ros/actions/test_lifecycle_node.py

@@ -51,5 +51,6 @@ def test_node_name():
         namespace='my_ns',
     )
     lc = LaunchContext()
-    node_object._Node__node_desc._perform_substitutions(lc, [])
+    for node in node_object.ros_exec.nodes:
+        node._perform_substitutions(lc, [])
     assert node_object.is_node_name_fully_specified() is True

test_launch_ros/test/test_launch_ros/actions/test_node.py

@@ -87,7 +87,8 @@ def test_launch_node_with_remappings(self):
         self._assert_launch_no_errors([node_action])
 
         # Check the expanded parameters.
-        expanded_remappings = node_action._Node__node_desc.expanded_remappings
+        for node in node_action.ros_exec.nodes:
+            expanded_remappings = node.expanded_remappings
         assert len(expanded_remappings) == 2
         for i in range(2):
             assert expanded_remappings[i] == ('chatter', 'new_chatter')
@@ -139,7 +140,8 @@ def test_launch_node_with_parameter_files(self):
         self._assert_launch_no_errors([node_action])
 
         # Check the expanded parameters.
-        expanded_parameter_arguments = node_action._Node__node_desc.expanded_parameter_arguments
+        for node in node_action.ros_exec.nodes:
+            expanded_parameter_arguments = node.expanded_parameter_arguments
         assert len(expanded_parameter_arguments) == 3
         for i in range(3):
             assert expanded_parameter_arguments[i] == (str(parameters_file_path), True)
@@ -176,7 +178,8 @@ def test_launch_node_with_parameter_descriptions(self):
         )
         self._assert_launch_no_errors([node_action])
 
-        expanded_parameter_arguments = node_action._Node__node_desc.expanded_parameter_arguments
+        for node in node_action.ros_exec.nodes:
+            expanded_parameter_arguments = node.expanded_parameter_arguments
         assert len(expanded_parameter_arguments) == 5
         parameters = []
         for item, is_file in expanded_parameter_arguments:
@@ -213,7 +216,8 @@ def test_launch_node_with_parameter_dict(self):
         self._assert_launch_no_errors([node_action])
 
         # Check the expanded parameters (will be written to a file).
-        expanded_parameter_arguments = node_action._Node__node_desc.expanded_parameter_arguments
+        for node in node_action.ros_exec.nodes:
+            expanded_parameter_arguments = node.expanded_parameter_arguments
         assert len(expanded_parameter_arguments) == 1
         file_path, is_file = expanded_parameter_arguments[0]
         assert is_file
@@ -348,5 +352,6 @@ def get_test_node_name_parameters():
 )
 def test_node_name(node_object, expected_result):
     lc = LaunchContext()
-    node_object._Node__node_desc._perform_substitutions(lc, [])
+    for node in node_object.ros_exec.nodes:
+        node._perform_substitutions(lc, [])
     assert node_object.is_node_name_fully_specified() is expected_result

test_launch_ros/test/test_launch_ros/actions/test_push_ros_namespace.py

@@ -127,7 +127,8 @@ def test_push_ros_namespace(config):
         namespace=config.node_ns,
         name=config.node_name
     )
-    node._Node__node_desc._perform_substitutions(lc, [])
+    for node in node_object.ros_exec.nodes:
+        node._perform_substitutions(lc, [])
     expected_ns = (
         config.expected_ns if config.expected_ns is not None else
         NodeDescription.UNSPECIFIED_NODE_NAMESPACE

test_launch_ros/test/test_launch_ros/actions/test_set_parameter.py

@@ -121,8 +121,9 @@ def test_set_param_with_node():
     )
     set_param = SetParameter(name='my_param', value='my_value')
     set_param.execute(lc)
-    node._Node__node_desc._perform_substitutions(lc, [])
-    expanded_parameter_arguments = node._Node__node_desc.expanded_parameter_arguments
+    for node_instance in node.ros_exec.nodes:
+        node_instance._perform_substitutions(lc, [])
+        expanded_parameter_arguments = node_instance.expanded_parameter_arguments
     assert len(expanded_parameter_arguments) == 2
     param_file_path, is_file = expanded_parameter_arguments[0]
     assert is_file

test_launch_ros/test/test_launch_ros/actions/test_set_remap.py

@@ -93,7 +93,8 @@ def test_set_remap_with_node():
     )
     set_remap = SetRemap('from1', 'to1')
     set_remap.execute(lc)
-    node._Node__node_desc._perform_substitutions(lc, [])
+    for node_instance in node.ros_exec.nodes:
+        node_instance._perform_substitutions(lc, [])
     assert len(node.expanded_remapping_rules) == 2
     assert node.expanded_remapping_rules == [('from1', 'to1'), ('from2', 'to2')]