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[ros2component] Parameters and remap rules cause log warning #336

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jacobperron opened this issue Sep 19, 2019 · 3 comments · Fixed by #433
Closed

[ros2component] Parameters and remap rules cause log warning #336

jacobperron opened this issue Sep 19, 2019 · 3 comments · Fixed by #433
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@jacobperron
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Bug report

Required Info:

  • Operating System:
    • Ubuntu 18.04
  • Installation type:
    • source
  • Version or commit hash:
  • DDS implementation:
    • N/A
  • Client library (if applicable):
    • rclpy

Steps to reproduce issue

Load a standalone component and pass it a parameter or remap rule:

ros2 component standalone demo_nodes_cpp demo_nodes_cpp::Talker -p foo:=bar

ros2 component standalone demo_nodes_cpp demo_nodes_cpp::Talker -r chatter:=bar

Expected behavior

Parameter and remap options for ros2 component standalone work as documented without side-effects.

Actual behavior

The flags appear to work (ie. successfully set a parameter or remap a topic), but anything matching the pattern "X:=Y" is picked up additionally as a remap and we see a warning, e.g.:

[WARN] [rcl]: Found remap rule 'foo:=bar'. This syntax is deprecated. Use '--ros-args --remap foo:=bar' instead.

If we try to set a parameter with -p foo:=bar it will also remap any topic named foo to bar as well.
@jacobperron jacobperron added the bug Something isn't working label Sep 19, 2019
@sloretz
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sloretz commented Sep 23, 2019

Does it still get interpreted as a remap rule when --ros-args is given?

ros2 component standalone demo_nodes_cpp demo_nodes_cpp::Talker --ros-args -p foo:=bar

@jacobperron
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@sloretz Not sure. ros2cli won't let us get that far:

ros2: error: unrecognized arguments: --ros-args

I'm not sure if we want to allow --ros-args to be passed alonside the CLI tools, but if so we should probably ticket it.

@clydemcqueen
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clydemcqueen commented Dec 19, 2019 •
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Also a bug for extra arguments, e.g.,

ros2 component load /ComponentManager opencv_cam opencv_cam::ImageSubscriberNode -e use_intra_process_comms:=true

jacobperron added a commit that referenced this issue Jan 13, 2020
@jacobperron
Avoid passing None to rclpy.init
e8101ba 
Otherwise, all CLI arguments will be parsed as ROS arguments, which can lead
to rcl warnings or incorrect legacy remapping behavior.

This change does pass arguments to rclpy.init from any of the CLI
tools, but it leaves the opportunity to do so by setting the parser argument
'argv'.

For example, we could later take the remaining arguments and pass them along
similar to what is done in ros2run:

https://github.com/ros2/ros2cli/blob/4c5d9327026ecb2ea10a16b3429908b4f6f64ca6/ros2run/ros2run/command/run.py#L51-L53

Fixes #336.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
jacobperron added a commit that referenced this issue Jan 13, 2020
@jacobperron
Avoid passing None to rclpy.init
26619fe 
Otherwise, all CLI arguments will be parsed as ROS arguments, which can lead
to rcl warnings or incorrect legacy remapping behavior.

This change does not pass arguments to rclpy.init from any of the CLI
tools, but it leaves the opportunity to do so in the future by setting the
parser argument 'argv'. For example, we could take the remaining arguments
and pass them to rclpy.init, similar to what is done in ros2run:

https://github.com/ros2/ros2cli/blob/4c5d9327026ecb2ea10a16b3429908b4f6f64ca6/ros2run/ros2run/command/run.py#L51-L53

Fixes #336.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
@jacobperron jacobperron mentioned this issue Jan 13, 2020
Merged
jacobperron added a commit that referenced this issue Jan 28, 2020
@jacobperron
Avoid passing None to rclpy.init (#433)
2b6286c 
Otherwise, all CLI arguments will be parsed as ROS arguments, which can lead
to rcl warnings or incorrect legacy remapping behavior.

This change does not pass arguments to rclpy.init from any of the CLI
tools, but it leaves the opportunity to do so in the future by setting the
parser argument 'argv'. For example, we could take the remaining arguments
and pass them to rclpy.init, similar to what is done in ros2run:

https://github.com/ros2/ros2cli/blob/4c5d9327026ecb2ea10a16b3429908b4f6f64ca6/ros2run/ros2run/command/run.py#L51-L53

Fixes #336.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
sloretz pushed a commit that referenced this issue Feb 6, 2020
@jacobperron @sloretz
Avoid passing None to rclpy.init (#433)
7440bbf 
Otherwise, all CLI arguments will be parsed as ROS arguments, which can lead
to rcl warnings or incorrect legacy remapping behavior.

This change does not pass arguments to rclpy.init from any of the CLI
tools, but it leaves the opportunity to do so in the future by setting the
parser argument 'argv'. For example, we could take the remaining arguments
and pass them to rclpy.init, similar to what is done in ros2run:

https://github.com/ros2/ros2cli/blob/4c5d9327026ecb2ea10a16b3429908b4f6f64ca6/ros2run/ros2run/command/run.py#L51-L53

Fixes #336.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
sloretz added a commit that referenced this issue Feb 9, 2020
@sloretz @jacobperron
Avoid passing None to rclpy.init (#433) (#449)
d812b2f 
Otherwise, all CLI arguments will be parsed as ROS arguments, which can lead
to rcl warnings or incorrect legacy remapping behavior.

This change does not pass arguments to rclpy.init from any of the CLI
tools, but it leaves the opportunity to do so in the future by setting the
parser argument 'argv'. For example, we could take the remaining arguments
and pass them to rclpy.init, similar to what is done in ros2run:

https://github.com/ros2/ros2cli/blob/4c5d9327026ecb2ea10a16b3429908b4f6f64ca6/ros2run/ros2run/command/run.py#L51-L53

Fixes #336.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

Co-authored-by: Jacob Perron <jacob@openrobotics.org>
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Avoid passing None to rclpy.init ros2/ros2cli
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@jacobperron @sloretz @clydemcqueen