node name with namespace

ros2cli/ros2cli/daemon/__init__.py

@@ -55,7 +55,8 @@ def main(*, script_name='_ros2_daemon', argv=None):
 
             # expose getter functions of node
             server.register_function(
-                _print_invoked_function_name(node.get_node_names))
+                _print_invoked_function_name(
+                    node.get_node_names_and_namespaces))
             server.register_function(
                 _print_invoked_function_name(node.get_topic_names_and_types))
             server.register_function(

ros2node/ros2node/api/__init__.py

@@ -12,19 +12,29 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from collections import namedtuple
+
 from ros2cli.node.strategy import NodeStrategy
 
 # TODO(mikaelarguedas) revisit this once it's specified
 HIDDEN_NODE_PREFIX = '_'
 
+NodeName = namedtuple('NodeName', ('name', 'namespace', 'full_name'))
+
 
 def get_node_names(*, node, include_hidden_nodes=False):
-    node_names = node.get_node_names()
-    if not include_hidden_nodes:
-        node_names = [
-            n for n in node_names
-            if n and not n.startswith(HIDDEN_NODE_PREFIX)]
-    return node_names
+    node_names_and_namespaces = node.get_node_names_and_namespaces()
+    return [
+        NodeName(
+            name=t[0],
+            namespace=t[1],
+            full_name=t[1] + ('' if t[1].endswith('/') else '/') + t[0])
+        for t in node_names_and_namespaces
+        if (
+            include_hidden_nodes or
+            (t[0] and not t[0].startswith(HIDDEN_NODE_PREFIX))
+        )
+    ]
 
 
 class NodeNameCompleter:
@@ -35,7 +45,8 @@ def __init__(self, *, include_hidden_nodes_key=None):
 
     def __call__(self, prefix, parsed_args, **kwargs):
         with NodeStrategy(parsed_args) as node:
-            return get_node_names(
-                node=node,
-                include_hidden_nodes=getattr(
-                    parsed_args, self.include_hidden_nodes_key))
+            return [
+                n.full_name for n in get_node_names(
+                    node=node,
+                    include_hidden_nodes=getattr(
+                        parsed_args, self.include_hidden_nodes_key))]

ros2node/ros2node/verb/list.py

@@ -37,4 +37,4 @@ def main(self, *, args):
         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')

ros2param/ros2param/api/__init__.py

@@ -57,7 +57,7 @@ def call_get_parameters(*, node, node_name, parameter_names):
     # create client
     client = node.create_client(
         GetParameters,
-        '/{node_name}/get_parameters'.format_map(locals()))
+        '{node_name}/get_parameters'.format_map(locals()))
 
     # call as soon as ready
     ready = client.wait_for_service(timeout_sec=5.0)
@@ -83,7 +83,7 @@ def call_set_parameters(*, node, node_name, parameters):
     # create client
     client = node.create_client(
         SetParameters,
-        '/{node_name}/set_parameters'.format_map(locals()))
+        '{node_name}/set_parameters'.format_map(locals()))
 
     # call as soon as ready
     ready = client.wait_for_service(timeout_sec=5.0)

ros2param/ros2param/verb/delete.py

@@ -46,7 +46,7 @@ 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:

ros2param/ros2param/verb/get.py

@@ -45,7 +45,7 @@ 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:

ros2param/ros2param/verb/list.py

@@ -46,9 +46,10 @@ 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]
+            node_names = [
+                n for n in node_names if args.node_name == n.full_name]
 
         with DirectNode(args) as node:
             clients = {}
@@ -57,7 +58,7 @@ def main(self, *, args):  # noqa: D102
             for node_name in node_names:
                 client = node.create_client(
                     ListParameters,
-                    '/{node_name}/list_parameters'.format_map(locals()))
+                    '{node_name.full_name}/list_parameters'.format_map(locals()))
                 clients[node_name] = client
 
             # wait until all clients have been called
@@ -85,13 +86,13 @@ def main(self, *, args):  # noqa: D102
                 future = futures[node_name]
                 if future.result() is not None:
                     if not args.node_name:
-                        print('{node_name}:'.format_map(locals()))
+                        print('{node_name.full_name}:'.format_map(locals()))
                     response = future.result()
                     for name in sorted(response.result.names):
                         print('  {name}'.format_map(locals()))
                 else:
                     e = future.exception()
                     print(
                         'Exception while calling service of node '
-                        "'{node_name}': {e}".format_map(locals()),
+                        "'{node_name.full_name}': {e}".format_map(locals()),
                         file=sys.stderr)

ros2param/ros2param/verb/set.py

@@ -47,7 +47,7 @@ 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: