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Promote special CLI rules to flags #68

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merged 2 commits into from
Sep 12, 2019
Merged

Promote special CLI rules to flags #68

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f6fdd89
Promote special CLI rules to flags.
hidmic Sep 4, 2019
e28cc82
Remove some short form CLI flags.
hidmic Sep 10, 2019
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7 changes: 2 additions & 5 deletions launch_ros/launch_ros/actions/node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -139,7 +139,7 @@ def __init__(
# evaluate to paths), or dictionaries of parameters (fields can be substitutions).
i = 0
for param in parameters:
cmd += [LocalSubstitution(
cmd += ['-f', LocalSubstitution(
"ros_specific_arguments['params'][{}]".format(i),
description='parameter {}'.format(i))]
i += 1
Expand Down Expand Up @@ -349,10 +349,7 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
if self.__expanded_node_namespace != '':
ros_specific_arguments['ns'] = '__ns:={}'.format(self.__expanded_node_namespace)
if self.__expanded_parameter_files is not None:
ros_specific_arguments['params'] = []
param_arguments = cast(List[str], ros_specific_arguments['params'])
for param_file_path in self.__expanded_parameter_files:
param_arguments.append('__params:={}'.format(param_file_path))
ros_specific_arguments['params'] = self.__expanded_parameter_files
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IIUC, -f flag only accepts one parameter file, and ros_specific_arguments['params'] (and self.__expanded_parameter_files) is a list.
And the limitation we talked in #59 (comment) isn't true.
Thought substitutions are usually performed to Text (and they should to please the type annotations), we were using LocalSubstitutions that were performed to List[str] or anything else (e.g.: ros_specific_arguments['params']).
See https://github.com/ros2/launch/blob/79975bf453af17fbc2848412d264dbcead623792/launch/launch/substitutions/local_substitution.py#L54.

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Hmm, a LocalSubstitution can evaluate to anything, that's true -- despite the fact we've type-annotated it as Text. But that's why I think we've been performing substitutions by indexing ros_specific_arguments['params'], and why I simply removed __params:= and prepended -f above.

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Sorry, I read the patch badly. I missed that we were doing ros_specific_arguments['params'][i] in the local substitution and not ros_specific_arguments['params'].

if self.__expanded_remappings is not None:
ros_specific_arguments['remaps'] = []
for remapping_from, remapping_to in self.__expanded_remappings:
Expand Down