comply with new node representation (#149)

* comply with new node representation * python oneliner * get_node_names return full struct
ros2 · Sep 12, 2018 · 54749d2 · 54749d2
1 parent ce9077f
commit 54749d2
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Showing 4 changed files with 8 additions and 8 deletions.
diff --git a/ros2lifecycle/ros2lifecycle/api/__init__.py b/ros2lifecycle/ros2lifecycle/api/__init__.py
@@ -28,13 +28,13 @@ def get_node_names(*, node, include_hidden_nodes=False):
     service_names_and_types = get_service_names_and_types(node=node)
     return [
         n for n in node_names
-        if _has_lifecycle(n, service_names_and_types)]
+        if _has_lifecycle(n.full_name, service_names_and_types)]
 
 
 def _has_lifecycle(node_name, service_names_and_types):
     for (service_name, service_types) in service_names_and_types:
         if (
-            service_name == '/{node_name}/get_state'.format_map(locals()) and
+            service_name == '{node_name}/get_state'.format_map(locals()) and
             'lifecycle_msgs/GetState' in service_types
         ):
             return True
@@ -48,7 +48,7 @@ def call_get_states(*, node, node_names):
     for node_name in node_names:
         client = node.create_client(
             GetState,
-            '/{node_name}/get_state'.format_map(locals()))
+            '{node_name}/get_state'.format_map(locals()))
         clients[node_name] = client
 
     # wait until all clients have been called
@@ -88,7 +88,7 @@ def call_get_available_transitions(*, node, states):
     for node_name in states.keys():
         client = node.create_client(
             GetAvailableTransitions,
-            '/{node_name}/get_available_transitions'.format_map(locals()))
+            '{node_name}/get_available_transitions'.format_map(locals()))
         clients[node_name] = client
 
     # wait until all clients have been called
@@ -135,7 +135,7 @@ def call_change_states(*, node, transitions):
     for node_name in transitions.keys():
         client = node.create_client(
             ChangeState,
-            '/{node_name}/change_state'.format_map(locals()))
+            '{node_name}/change_state'.format_map(locals()))
         clients[node_name] = client
 
     # wait until all clients have been called

diff --git a/ros2lifecycle/ros2lifecycle/verb/get.py b/ros2lifecycle/ros2lifecycle/verb/get.py
@@ -46,7 +46,7 @@ def main(self, *, args):  # noqa: D102
                 node=node, include_hidden_nodes=args.include_hidden_nodes)
 
         if args.node_name:
-            if args.node_name not in node_names:
+            if args.node_name not in {n.full_name for n in node_names}:
                 return 'Node not found'
             node_names = [args.node_name]
 

diff --git a/ros2lifecycle/ros2lifecycle/verb/list.py b/ros2lifecycle/ros2lifecycle/verb/list.py
@@ -38,4 +38,4 @@ def main(self, *, args):  # noqa: D102
         if args.count_nodes:
             print(len(node_names))
         elif node_names:
-            print(*node_names, sep='\n')
+            print(*{n.full_name for n in node_names}, sep='\n')
diff --git a/ros2lifecycle/ros2lifecycle/verb/set.py b/ros2lifecycle/ros2lifecycle/verb/set.py
@@ -44,7 +44,7 @@ def main(self, *, args):  # noqa: D102
             node_names = get_node_names(
                 node=node, include_hidden_nodes=args.include_hidden_nodes)
 
-        if args.node_name not in node_names:
+        if args.node_name not in {n.full_name for n in node_names}:
             return 'Node not found'
 
         with DirectNode(args) as node: