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Support remapping arguments to python nodes using argparse #252

merged 1 commit into from Jun 21, 2018


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commented Jun 21, 2018


dhood@osrf-esteve:~/ros2_bouncy [ros2_bouncy]$ ros2 run demo_nodes_py listener_qos __ns:=/my_nsusage: listener_qos [-h] [--reliable] [-n NUMBER_OF_CYCLES]
listener_qos: error: unrecognized arguments: __ns:=/my_ns


dhood@osrf-esteve:~/ros2_bouncy [ros2_bouncy]$ ros2 run demo_nodes_py talker_qos __ns:=/my_ns
[INFO] [my_ns.talker_qos]: Best effort talker
[INFO] [my_ns.talker_qos]: Publishing: "Hello World: 0"
dhood@osrf-esteve:~/ros2_bouncy [ros2_bouncy]$ $ ros2 rudemo_nodes_py listener_qos __ns:=/my_ns
[INFO] [my_ns.listener_qos]: Best effort listener
dhood@osrf-esteve:~/ros2_bouncy [ros2_bouncy]$ $ ros2 rulifecycle get_state lc_talker __node:=my_client
[WARN] [my_client]: Unable to call service lc_talker/get_state

@dhood dhood added the in review label Jun 21, 2018

@dhood dhood self-assigned this Jun 21, 2018

@dhood dhood added in progress and removed in progress labels Jun 21, 2018

@dhood dhood merged commit 094ea81 into master Jun 21, 2018

@dhood dhood deleted the support_remapping_argparse branch Jun 21, 2018

@dhood dhood removed the in review label Jun 21, 2018


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commented Jun 21, 2018

Is this preferable to

Also, there really should be an rclpy function to remove ros arguments from sys.argv before doing anything (including rclpy.init), so that you could remove them before giving the rest to argparse.


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commented Jun 21, 2018

Thanks for mentioning the rclpy function that should exist one day, I forgot to mention this was meant to workaround that.

An advantage of REMAINDER over parse_known_args is that we can then pass just those extra arguments into rclpy (not that passing all of them is currently an issue). however, for the talker/listener_qos, I didn't actually pass it through, so the code is currently in a strange, mixed state. I'll followup.

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