Merge branch 'devel' into release/1.2.x

CHANGELOG.rst

@@ -6,6 +6,11 @@ Forthcoming
 -----------
 * ...
 
+1.2.1 (2019-10-08)
+------------------
+* [trees] bugfix KeyError on publication of missing keys, `#118 <https://github.com/splintered-reality/py_trees_ros/pull/118>`_
+* [utilities] a ros myargv stipper, a'la ROS1 style, until something is available upstream
+
 1.2.0 (2019-10-02)
 ------------------
 * [blackboards] sweeping changes to accomodate the new blackboards with tracking, `#109 <https://github.com/splintered-reality/py_trees_ros/pull/109>`_

doc/conf.py

@@ -48,7 +48,7 @@
 # The short X.Y version.
 version = "1.2"
 # The full version, including alpha/beta/rc tags.
-release = "1.2.0"
+release = "1.2.1"
 
 ##############################################################################
 # Regular Sphinx Configuration

package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>py_trees_ros</name>
-  <version>1.2.0</version>
+  <version>1.2.1</version>
   <description>
     ROS2 extensions and behaviours for py_trees.
   </description>

py_trees_ros/trees.py

@@ -381,12 +381,17 @@ def _publish_serialised_tree(self):
             client_ids=self.snapshot_visitor.visited.keys()
         )
         for key in visited_keys:
+            try:
+                value = str(py_trees.blackboard.Blackboard.get(key))
+            except KeyError:
+                value = "-"
             tree_message.blackboard_on_visited_path.append(
                 diagnostic_msgs.KeyValue(
                     key=key,
-                    value=str(py_trees.blackboard.Blackboard.get(key))
+                    value=value
                 )
             )
+
         if py_trees.blackboard.Blackboard.activity_stream is not None:
             tree_message.blackboard_activity_stream = py_trees.display.unicode_blackboard_activity_stream()
         # other

py_trees_ros/utilities.py

@@ -18,9 +18,11 @@
 
 import os
 import pathlib
+import re
+import sys
 
-import py_trees_ros_interfaces.msg as py_trees_msgs
-import py_trees_ros_interfaces.srv as py_trees_srvs
+import py_trees_ros_interfaces.msg as py_trees_msgs  # noqa
+import py_trees_ros_interfaces.srv as py_trees_srvs  # noqa
 import rclpy
 import rclpy.node
 import rclpy.qos
@@ -209,6 +211,32 @@ def create_anonymous_node_name(node_name="node") -> str:
     """
     return node_name + "_" + str(time.monotonic()).replace('.', '')
 
+
+REMAP_PATTERN = re.compile('^([\~\/A-Za-z]|_|__)[\w\/]*' + ":=" + '.*')
+
+
+def myargv(argv: typing.List[str]=None):
+    """
+    Need something like this upstreamed in rclpy. The original ROS1 versions
+    thereof can be found at:
+    - https://github.com/ros/ros_comm/blob/melodic-devel/clients/rospy/src/rospy/client.py#L77
+    - https://github.com/ros/ros_comm/blob/melodic-devel/tools/rosgraph/src/rosgraph/names.py#L246
+
+    Args:
+        argv:
+    """
+    if argv is None:
+        argv = sys.argv
+
+    def is_legal_remap(arg):
+        if arg is None:
+            return False
+        m = REMAP_PATTERN.match(arg)
+        return m is not None and m.group(0) == arg
+
+    return [a for a in argv if not is_legal_remap(a)]
+
+
 ##############################################################################
 # Convenience Classes
 ##############################################################################

py_trees_ros/version.py

@@ -15,4 +15,4 @@
 # Version
 ##############################################################################
 
-__version__ = '1.2.0'
+__version__ = '1.2.1'

setup.py

@@ -7,7 +7,7 @@
 
 setup(
     name=package_name,
-    version='1.2.0',  # also package.xml, doc/conf.py, py_trees_ros/version.py
+    version='1.2.1',  # also package.xml, doc/conf.py, py_trees_ros/version.py
     packages=find_packages(
         exclude=['doc*', 'tests*', 'graveyard*', 'scripts*']
     ),