init_and_remove_ros_arguments parse arguments two times

[iuhilnehc-ynos]

Bug report

Required Info:

• Operating System:
  • Ubuntu 20.04
• Installation type:
  • source
• Version or commit hash:
  • 018cfaa
• DDS implementation:
  • Fast-RTPS
• Client library (if applicable):
  • rclcpp

Steps to reproduce issue

$ ros2 run demo_nodes_cpp listener --ros-args --log-level debug

Expected behavior

<...>
[DEBUG] [1603184568.251432332] [rcl]: Couldn't parse arg 0 (/home/sharedata/Linux/ROS2/docker_ros2_master/local_install/lib/demo_nodes_cpp/listener) as a remap rule in its deprecated form. Error: Expected lexeme type (19) not found, search ended at index 87, at /home/sharedata/Linux/ROS2/docker_ros2_master/src/ros2/rcl/rcl/src/rcl/lexer_lookahead.c:233
<...>

Actual behavior

<...>
[DEBUG] [1603184568.251432332] [rcl]: Couldn't parse arg 0 (/home/sharedata/Linux/ROS2/docker_ros2_master/local_install/lib/demo_nodes_cpp/listener) as a remap rule in its deprecated form. Error: Expected lexeme type (19) not found, search ended at index 87, at /home/sharedata/Linux/ROS2/docker_ros2_master/src/ros2/rcl/rcl/src/rcl/lexer_lookahead.c:233
<...>
[DEBUG] [1603184568.253581614] [rcl]: Couldn't parse arg 0 (/home/sharedata/Linux/ROS2/docker_ros2_master/local_install/lib/demo_nodes_cpp/listener) as a remap rule in its deprecated form. Error: Expected lexeme type (19) not found, search ended at index 87, at /home/sharedata/Linux/ROS2/docker_ros2_master/src/ros2/rcl/rcl/src/rcl/lexer_lookahead.c:233

Additional information

rclcpp/rclcpp/src/rclcpp/utilities.cpp

Lines 59 to 67 in 018cfaa

	std::vector<std::string>
	init_and_remove_ros_arguments(
	int argc,
	char const * const argv[],
	const InitOptions & init_options)
	{
	init(argc, argv, init_options);
	return remove_ros_arguments(argc, argv);
	}

Fix: At

rclcpp/rclcpp/src/rclcpp/utilities.cpp

Lines 69 to 70 in 018cfaa

	std::vector<std::string>
	remove_ros_arguments(int argc, char const * const argv[])

, we need to check if get_global_default_context()->get_rcl_context() exist, and then decide to call rcl_parse_arguments or not.

[iuhilnehc-ynos]

@ivanpauno

Could you confirm whether this issue should be fixed or not?

[ivanpauno]

, we need to check if get_global_default_context()->get_rcl_context() exist, and then decide to call rcl_parse_arguments or not.

I'm not sure if that helps, as context init doesn't seem to have failed.

If you have a way of avoiding to parse the arguments twice without adding much complexity, I think that would be ok.

[iuhilnehc-ynos]

I'm not sure if that helps, as context init doesn't seem to have failed.

Thank you for your response. That helped much.
I'll use another way to fix this issue, and I hope that it's not much complexity for you.