[foxy] Support scoping environment variables (#601) #630
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* Support scoping environment variables Resolves #597 Wherever actions were previously using os.environ, now get environment variables from the launch context. There are a few exceptions where os.environ is still used since a launch context is not available (e.g. logging directory and overriding launch process output). Maintain a stack of environment variables in the launch context, similar to launch configurations. Add new actions PushEnvironment and PopEnvironment to interact with the stack. Push and pop the environment inside the GroupAction to support scoping. Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Reset environment in GroupAction Add a new ResetEnvironment action that sets the contexts environment back to it's initial state (os.environ). Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Operate directly on os.environ Rather than keeping a copy of os.environ that entities must operate on, instead operate directly on os.environ. This way if any Python interacting with the launch API also modifies os.environ, it should work as they expect. Also keeps the behavior backwards compatible. Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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Backport #601 to Foxy.
Resolves ros2/ros2#1244
This is a partial backport, since Foxy does not support the
forwardingoption ofGroupAction. Therefore, we're not actually using the newResetEnvironmentaction, but I don't think it hurts to include it here in case users want to leverage it.