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Improve parameter handling #664

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merged 2 commits into from
Dec 11, 2024
Merged

Improve parameter handling #664

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819c943
Improve parameter handling for RosGzBridge
azeey Dec 10, 2024
705ee56
Merge remote-tracking branch 'origin/ros2' into improve_parameter_han…
ahcorde Dec 11, 2024
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46 changes: 17 additions & 29 deletions ros_gz_bridge/ros_gz_bridge/actions/ros_gz_bridge.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,16 +14,18 @@

"""Module for the ros_gz bridge action."""

from typing import Dict, List, Optional, Union
from typing import cast, Dict, List, Optional, Union

from launch.action import Action
from launch.frontend import Entity, expose_action, Parser
from launch.launch_context import LaunchContext
from launch.some_substitutions_type import SomeSubstitutionsType
from launch.substitutions import TextSubstitution
from launch.utilities import ensure_argument_type
from launch.utilities.type_utils import normalize_typed_substitution, perform_typed_substitution
from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes, Node
from launch_ros.descriptions import ComposableNode
from launch_ros.parameters_type import SomeParameters


@expose_action('ros_gz_bridge')
Expand All @@ -41,7 +43,7 @@ def __init__(
use_composition: Union[bool, SomeSubstitutionsType] = False,
use_respawn: Union[bool, SomeSubstitutionsType] = False,
log_level: SomeSubstitutionsType = 'info',
bridge_params: SomeSubstitutionsType = '',
bridge_params: Optional[SomeParameters] = None,
**kwargs
) -> None:
"""
Expand Down Expand Up @@ -89,7 +91,13 @@ def __init__(

self.__use_respawn = normalize_typed_substitution(use_respawn, bool)
self.__log_level = log_level
self.__bridge_params = bridge_params
self.__bridge_params = [{'config_file': self.__config_file}]
if bridge_params is not None:
# This handling of bridge_params was copied from launch_ros/actions/node.py
ensure_argument_type(bridge_params, (list), 'bridge_params', 'RosGzBridge')
# All elements in the list are paths to files with parameters (or substitutions that
# evaluate to paths), or dictionaries of parameters (fields can be substitutions).
self.__bridge_params.extend(cast(list, bridge_params))

@classmethod
def parse(cls, entity: Entity, parser: Parser):
Expand Down Expand Up @@ -128,9 +136,7 @@ def parse(cls, entity: Entity, parser: Parser):
'log_level', data_type=str,
optional=True)

bridge_params = entity.get_attr(
'bridge_params', data_type=str,
optional=True)
parameters = entity.get_attr('param', data_type=List[Entity], optional=True)

if isinstance(bridge_name, str):
bridge_name = parser.parse_substitution(bridge_name)
Expand Down Expand Up @@ -165,31 +171,13 @@ def parse(cls, entity: Entity, parser: Parser):
log_level = parser.parse_substitution(log_level)
kwargs['log_level'] = log_level

if isinstance(bridge_params, str):
bridge_params = parser.parse_substitution(bridge_params)
kwargs['bridge_params'] = bridge_params
if parameters is not None:
kwargs['bridge_params'] = Node.parse_nested_parameters(parameters, parser)

return cls, kwargs

def execute(self, context: LaunchContext) -> Optional[List[Action]]:
"""Execute the action."""
if hasattr(self.__bridge_params, 'perform'):
string_bridge_params = self.__bridge_params.perform(context)
elif isinstance(self.__bridge_params, list):
if hasattr(self.__bridge_params[0], 'perform'):
string_bridge_params = self.__bridge_params[0].perform(context)
else:
string_bridge_params = str(self.__bridge_params)
# Remove unnecessary symbols
simplified_bridge_params = string_bridge_params.translate(
{ord(i): None for i in '{} "\''}
)
# Parse to dictionary
parsed_bridge_params = {}
if simplified_bridge_params:
bridge_params_pairs = simplified_bridge_params.split(',')
parsed_bridge_params = dict(pair.split(':') for pair in bridge_params_pairs)

use_composition_eval = perform_typed_substitution(
context, self.__use_composition, bool
)
Expand All @@ -209,7 +197,7 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
output='screen',
respawn=perform_typed_substitution(context, self.__use_respawn, bool),
respawn_delay=2.0,
parameters=[{'config_file': self.__config_file, **parsed_bridge_params}],
parameters=self.__bridge_params,
arguments=['--ros-args', '--log-level', self.__log_level],
))

Expand All @@ -226,7 +214,7 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
plugin='ros_gz_bridge::RosGzBridge',
name=self.__bridge_name,
namespace=self.__namespace,
parameters=[{'config_file': self.__config_file, **parsed_bridge_params}],
parameters=self.__bridge_params,
extra_arguments=[{'use_intra_process_comms': True}],
),
],
Expand All @@ -243,7 +231,7 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
plugin='ros_gz_bridge::RosGzBridge',
name=self.__bridge_name,
namespace=self.__namespace,
parameters=[{'config_file': self.__config_file, **parsed_bridge_params}],
parameters=self.__bridge_params,
extra_arguments=[{'use_intra_process_comms': True}],
),
],
Expand Down
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