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Plumb rclpy.init context to get_default_launch_description #193

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merged 3 commits into from
Mar 7, 2019
Merged

Plumb rclpy.init context to get_default_launch_description #193

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a6d87b3
Plumb rclpy.init context to get_default_launch_description
Mar 2, 2019
f0ebd90
Address review comments
Mar 6, 2019
fb7367d
doc style fixup
wjwwood Mar 6, 2019
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17 changes: 11 additions & 6 deletions launch_ros/launch_ros/default_launch_description.py
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@
import launch.events

import rclpy
from rclpy.executors import SingleThreadedExecutor

_logger = logging.getLogger('launch_ros')
_process_log_files = {} # type: Dict[Text, TextIO]
Expand Down Expand Up @@ -68,18 +69,19 @@ def _on_process_output(event: launch.Event, *, file_name: Text, prefix_output: b
class ROSSpecificLaunchStartup(launch.actions.OpaqueFunction):
"""Does ROS specific launch startup."""

def __init__(self):
def __init__(self, rclpy_context=None):
"""Constructor."""
super().__init__(function=self._function)
self.__shutting_down = False
self.__rclpy_context = rclpy_context

def _shutdown(self, event: launch.Event, context: launch.LaunchContext):
self.__shutting_down = True
self.__rclpy_spin_thread.join()
self.__launch_ros_node.destroy_node()

def _run(self):
executor = rclpy.get_global_executor()
executor = SingleThreadedExecutor(context=self.__rclpy_context)
try:
executor.add_node(self.__launch_ros_node)
while not self.__shutting_down:
Expand All @@ -94,12 +96,12 @@ def _run(self):

def _function(self, context: launch.LaunchContext):
try:
rclpy.init(args=context.argv)
rclpy.init(args=context.argv, context=self.__rclpy_context)
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except RuntimeError as exc:
if 'rcl_init called while already initialized' in str(exc):
pass
raise
self.__launch_ros_node = rclpy.create_node('launch_ros')
self.__launch_ros_node = rclpy.create_node('launch_ros', context=self.__rclpy_context)
context.extend_globals({
'ros_startup_action': self,
'launch_ros_node': self.__launch_ros_node
Expand All @@ -111,17 +113,20 @@ def _function(self, context: launch.LaunchContext):
self.__rclpy_spin_thread.start()


def get_default_launch_description(*, prefix_output_with_name=False):
def get_default_launch_description(*, prefix_output_with_name=False, rclpy_context=None):
"""
Return a LaunchDescription to be included before user descriptions.

:param: prefix_output_with_name if True, each line of output is prefixed
with the name of the process as `[process_name] `, else it is printed
unmodified

:param: rclpy_context Provide a context other than the default rclpy context pass down
to rclpy.init
"""
default_ros_launch_description = launch.LaunchDescription([
# ROS initialization (create node and other stuff).
ROSSpecificLaunchStartup(),
ROSSpecificLaunchStartup(rclpy_context=rclpy_context),
# Handle process starts.
launch.actions.RegisterEventHandler(launch.EventHandler(
matcher=lambda event: isinstance(event, launch.events.process.ProcessStarted),
Expand Down