Enable --no-daemon flag for some cli tools

fixes #511
added daemon support to the other topic tools, except pub.

Signed-off-by: Dereck Wonnacott <dereck.wonnacott@havalus.com>

ros2topic/ros2topic/verb/bw.py

@@ -40,7 +40,8 @@
 
 import rclpy
 from rclpy.qos import qos_profile_sensor_data
-from ros2cli.node.direct import DirectNode
+from ros2cli.node.strategy import NodeStrategy
+from ros2cli.node.strategy import add_arguments as add_strategy_node_arguments
 from ros2topic.api import get_msg_class
 from ros2topic.api import TopicNameCompleter
 from ros2topic.verb import VerbExtension
@@ -74,6 +75,8 @@ class BwVerb(VerbExtension):
     """Display bandwidth used by topic."""
 
     def add_arguments(self, parser, cli_name):
+        add_strategy_node_arguments(parser)
+
         arg = parser.add_argument(
             'topic',
             help='Topic name to monitor for bandwidth utilization')
@@ -85,7 +88,7 @@ def add_arguments(self, parser, cli_name):
                  f'(default: {DEFAULT_WINDOW_SIZE})', metavar='WINDOW')
 
     def main(self, *, args):
-        with DirectNode(args) as node:
+        with NodeStrategy(args) as node:
             _rostopic_bw(node.node, args.topic, window_size=args.window)
 
 

ros2topic/ros2topic/verb/delay.py

@@ -40,7 +40,8 @@
 
 from rclpy.qos import qos_profile_sensor_data
 from rclpy.time import Time
-from ros2cli.node.direct import DirectNode
+from ros2cli.node.strategy import NodeStrategy
+from ros2cli.node.strategy import add_arguments as add_strategy_node_arguments
 from ros2topic.api import get_msg_class
 from ros2topic.api import TopicNameCompleter
 from ros2topic.verb import VerbExtension
@@ -62,6 +63,8 @@ class DelayVerb(VerbExtension):
     """Display delay of topic from timestamp in header."""
 
     def add_arguments(self, parser, cli_name):
+        add_strategy_node_arguments(parser)
+
         arg = parser.add_argument(
             'topic',
             help='Topic name to calculate the delay for')
@@ -77,7 +80,7 @@ def main(self, *, args):
 
 
 def main(args):
-    with DirectNode(args) as node:
+    with NodeStrategy(args) as node:
         _rostopic_delay(
             node.node, args.topic, window_size=args.window)
 

ros2topic/ros2topic/verb/echo.py

@@ -22,6 +22,7 @@
 from rclpy.node import Node
 from rclpy.qos import QoSProfile
 from ros2cli.node.strategy import NodeStrategy
+from ros2cli.node.strategy import add_arguments as add_strategy_node_arguments
 from ros2topic.api import add_qos_arguments_to_argument_parser
 from ros2topic.api import get_msg_class
 from ros2topic.api import qos_profile_from_short_keys
@@ -49,6 +50,8 @@ class EchoVerb(VerbExtension):
     """Output messages from a topic."""
 
     def add_arguments(self, parser, cli_name):
+        add_strategy_node_arguments(parser)
+
         arg = parser.add_argument(
             'topic_name',
             help="Name of the ROS topic to listen to (e.g. '/chatter')")
@@ -92,7 +95,8 @@ def main(args):
         args.qos_profile, reliability=args.qos_reliability, durability=args.qos_durability)
     with NodeStrategy(args) as node:
         if args.message_type is None:
-            message_type = get_msg_class(node, args.topic_name, include_hidden_topics=True)
+            message_type = get_msg_class(
+                node, args.topic_name, include_hidden_topics=True)
         else:
             message_type = get_message(args.message_type)
         subscriber(
@@ -126,5 +130,6 @@ def cb(msg):
 def subscriber_cb_csv(truncate_length, noarr, nostr):
     def cb(msg):
         nonlocal truncate_length, noarr, nostr
-        print(message_to_csv(msg, truncate_length=truncate_length, no_arr=noarr, no_str=nostr))
+        print(message_to_csv(msg, truncate_length=truncate_length,
+                             no_arr=noarr, no_str=nostr))
     return cb

ros2topic/ros2topic/verb/find.py

@@ -13,6 +13,7 @@
 # limitations under the License.
 
 from ros2cli.node.strategy import NodeStrategy
+from ros2cli.node.strategy import add_arguments as add_strategy_node_arguments
 
 from ros2topic.api import get_topic_names_and_types
 from ros2topic.api import message_type_completer
@@ -23,6 +24,8 @@ class FindVerb(VerbExtension):
     """Output a list of available topics of a given type."""
 
     def add_arguments(self, parser, cli_name):
+        add_strategy_node_arguments(parser)
+
         arg = parser.add_argument(
             'topic_type',
             help="Name of the ROS topic type to filter for (e.g. 'std_msg/msg/String')")

ros2topic/ros2topic/verb/hz.py

@@ -45,7 +45,8 @@
 from rclpy.clock import Clock
 from rclpy.clock import ClockType
 from rclpy.qos import qos_profile_sensor_data
-from ros2cli.node.direct import DirectNode
+from ros2cli.node.strategy import NodeStrategy
+from ros2cli.node.strategy import add_arguments as add_strategy_node_arguments
 from ros2topic.api import get_msg_class
 from ros2topic.api import TopicNameCompleter
 from ros2topic.verb import VerbExtension
@@ -67,6 +68,8 @@ class HzVerb(VerbExtension):
     """Print the average publishing rate to screen."""
 
     def add_arguments(self, parser, cli_name):
+        add_strategy_node_arguments(parser)
+
         arg = parser.add_argument(
             'topic_name',
             help="Name of the ROS topic to listen to (e.g. '/chatter')")
@@ -102,7 +105,7 @@ def eval_fn(m):
     else:
         filter_expr = None
 
-    with DirectNode(args) as node:
+    with NodeStrategy(args) as node:
         _rostopic_hz(node.node, topic, window_size=args.window_size, filter_expr=filter_expr,
                      use_wtime=args.use_wtime)
 

ros2topic/ros2topic/verb/info.py

@@ -13,7 +13,7 @@
 # limitations under the License.
 
 from ros2cli.node.strategy import NodeStrategy
-
+from ros2cli.node.strategy import add_arguments as add_strategy_node_arguments
 from ros2topic.api import get_topic_names_and_types
 from ros2topic.api import TopicNameCompleter
 from ros2topic.verb import VerbExtension
@@ -23,6 +23,7 @@ class InfoVerb(VerbExtension):
     """Print information about a topic."""
 
     def add_arguments(self, parser, cli_name):
+        add_strategy_node_arguments(parser)
         arg = parser.add_argument(
             'topic_name',
             help="Name of the ROS topic to get info (e.g. '/chatter')")

ros2topic/ros2topic/verb/list.py

@@ -12,8 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ros2cli.node.strategy import add_arguments
 from ros2cli.node.strategy import NodeStrategy
+from ros2cli.node.strategy import add_arguments as add_strategy_node_arguments
 from ros2topic.api import get_topic_names_and_types
 from ros2topic.verb import VerbExtension
 
@@ -22,7 +22,8 @@ class ListVerb(VerbExtension):
     """Output a list of available topics."""
 
     def add_arguments(self, parser, cli_name):
-        add_arguments(parser)
+        add_strategy_node_arguments(parser)
+
         parser.add_argument(
             '-t', '--show-types', action='store_true',
             help='Additionally show the topic type')

ros2topic/ros2topic/verb/pub.py

@@ -150,6 +150,7 @@ def timer_callback():
         rclpy.spin_once(node)
 
     if times == 1:
-        time.sleep(0.1)  # make sure the message reaches the wire before exiting
+        # make sure the message reaches the wire before exiting
+        time.sleep(0.1)
 
     node.destroy_timer(timer)

ros2topic/ros2topic/verb/type.py

@@ -13,6 +13,7 @@
 # limitations under the License.
 
 from ros2cli.node.strategy import NodeStrategy
+from ros2cli.node.strategy import add_arguments as add_strategy_node_arguments
 
 from ros2topic.api import get_topic_names_and_types
 from ros2topic.api import TopicNameCompleter
@@ -23,6 +24,8 @@ class TypeVerb(VerbExtension):
     """Print a topic's type."""
 
     def add_arguments(self, parser, cli_name):
+        add_strategy_node_arguments(parser)
+
         arg = parser.add_argument(
             'topic_name',
             help="Name of the ROS topic to get type (e.g. '/chatter')")