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Support non-absolute topic names. #57

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merged 4 commits into from
Oct 3, 2017
Merged

Support non-absolute topic names. #57

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5d2d514
Support non-absolute topic names.
clalancette Sep 27, 2017
c5dec61
Use expand_topic_name instead.
clalancette Sep 27, 2017
52ef369
Make sure to validate the topic name as well.
clalancette Oct 3, 2017
047b99d
Just use the default for is_service.
clalancette Oct 3, 2017
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6 changes: 5 additions & 1 deletion ros2topic/ros2topic/verb/echo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,9 @@
import sys

import rclpy
from rclpy.expand_topic_name import expand_topic_name
from rclpy.qos import qos_profile_sensor_data
from rclpy.validate_full_topic_name import validate_full_topic_name
from ros2cli.node.direct import DirectNode
from ros2topic.api import get_topic_names_and_types
from ros2topic.api import TopicNameCompleter
Expand Down Expand Up @@ -97,8 +99,10 @@ def represent_ordereddict(dumper, data):
def subscriber(node, topic_name, message_type, callback):
if message_type is None:
topic_names_and_types = get_topic_names_and_types(node=node)
expanded_name = expand_topic_name(topic_name, node.get_name(), node.get_namespace())
validate_full_topic_name(expanded_name, is_service=False)
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Nit: False being the default you shouldn't need to have to pass the is_service keyword

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Good call. Will fix that before merging.

for n, t in topic_names_and_types:
if n == topic_name:
if n == expanded_name:
if len(t) > 1:
raise RuntimeError(
"Cannot echo topic '%s', as it contains more than one type: [%s]" %
Expand Down