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Use of -r/--remap flags where appropriate. (#834)

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Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
This commit is contained in:
Michel Hidalgo 2019-09-03 14:34:54 -03:00 • committed by GitHub
parent f153cf7173
commit a6e80fcaea
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GPG key ID: 4AEE18F83AFDEB23
5 changed files with 22 additions and 11 deletions
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2
rclcpp/test/test_node.cpp
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@ -66,7 +66,7 @@ TEST_F(TestNode, get_name_and_namespace) {
} }
{ {
auto options = rclcpp::NodeOptions() auto options = rclcpp::NodeOptions()
.arguments({"__ns:=/another_ns"}); .arguments({"-r", "__ns:=/another_ns"});
auto node = std::make_shared<rclcpp::Node>("my_node", "/ns", options); auto node = std::make_shared<rclcpp::Node>("my_node", "/ns", options);
EXPECT_STREQ("my_node", node->get_name()); EXPECT_STREQ("my_node", node->get_name());
EXPECT_STREQ("/another_ns", node->get_namespace()); EXPECT_STREQ("/another_ns", node->get_namespace());

7
rclcpp/test/test_node_global_args.cpp
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@ -28,14 +28,15 @@ class TestNodeWithGlobalArgs : public ::testing::Test
protected: protected:
static void SetUpTestCase() static void SetUpTestCase()
{ {
const char * const args[] = {"proc", "--ros-args", "__node:=global_node_name"}; const char * const args[] = {"proc", "--ros-args", "-r", "__node:=global_node_name"};
rclcpp::init(3, args); const int argc = sizeof(args) / sizeof(const char *);
rclcpp::init(argc, args);
} }
}; };
TEST_F(TestNodeWithGlobalArgs, local_arguments_before_global) { TEST_F(TestNodeWithGlobalArgs, local_arguments_before_global) {
auto options = rclcpp::NodeOptions() auto options = rclcpp::NodeOptions()
.arguments({"__node:=local_arguments_test"}); .arguments({"-r", "__node:=local_arguments_test"});
auto node = rclcpp::Node::make_shared("orig_name", options); auto node = rclcpp::Node::make_shared("orig_name", options);
EXPECT_STREQ("local_arguments_test", node->get_name()); EXPECT_STREQ("local_arguments_test", node->get_name());

8
rclcpp/test/test_node_options.cpp
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@ -27,7 +27,7 @@
TEST(TestNodeOptions, implicit_ros_args) { TEST(TestNodeOptions, implicit_ros_args) {
rcl_allocator_t allocator = rcl_get_default_allocator(); rcl_allocator_t allocator = rcl_get_default_allocator();
auto options = rclcpp::NodeOptions(allocator) auto options = rclcpp::NodeOptions(allocator)
.arguments({"__node:=some_node", "__ns:=/some_ns"}); .arguments({"-r", "__node:=some_node", "-r", "__ns:=/some_ns"});
const rcl_node_options_t * rcl_options = options.get_rcl_node_options(); const rcl_node_options_t * rcl_options = options.get_rcl_node_options();
ASSERT_TRUE(rcl_options != nullptr); ASSERT_TRUE(rcl_options != nullptr);
@ -52,7 +52,7 @@ TEST(TestNodeOptions, implicit_ros_args) {
TEST(TestNodeOptions, explicit_ros_args) { TEST(TestNodeOptions, explicit_ros_args) {
rcl_allocator_t allocator = rcl_get_default_allocator(); rcl_allocator_t allocator = rcl_get_default_allocator();
auto options = rclcpp::NodeOptions(allocator) auto options = rclcpp::NodeOptions(allocator)
.arguments({"--ros-args", "__node:=some_node", "__ns:=/some_ns"}); .arguments({"--ros-args", "-r", "__node:=some_node", "-r", "__ns:=/some_ns"});
const rcl_node_options_t * rcl_options = options.get_rcl_node_options(); const rcl_node_options_t * rcl_options = options.get_rcl_node_options();
ASSERT_TRUE(rcl_options != nullptr); ASSERT_TRUE(rcl_options != nullptr);
@ -77,8 +77,8 @@ TEST(TestNodeOptions, explicit_ros_args) {
TEST(TestNodeOptions, explicit_ros_args_and_non_ros_args) { TEST(TestNodeOptions, explicit_ros_args_and_non_ros_args) {
rcl_allocator_t allocator = rcl_get_default_allocator(); rcl_allocator_t allocator = rcl_get_default_allocator();
auto options = rclcpp::NodeOptions(allocator).arguments({ auto options = rclcpp::NodeOptions(allocator).arguments({
"--non-ros-flag", "--ros-args", "__node:=some_node", "--non-ros-flag", "--ros-args", "-r", "__node:=some_node",
"__ns:=/some_ns", "--", "non-ros-arg"}); "-r", "__ns:=/some_ns", "--", "non-ros-arg"});
const rcl_node_options_t * rcl_options = options.get_rcl_node_options(); const rcl_node_options_t * rcl_options = options.get_rcl_node_options();
ASSERT_TRUE(rcl_options != nullptr); ASSERT_TRUE(rcl_options != nullptr);

7
rclcpp/test/test_utilities.cpp
View file

@ -23,8 +23,11 @@
TEST(TestUtilities, remove_ros_arguments) { TEST(TestUtilities, remove_ros_arguments) {
const char * const argv[] = { const char * const argv[] = {
"process_name", "-d", "--ros-args", "__ns:=/foo/bar", "__ns:=/fiz/buz", "--", "process_name",
"--foo=bar", "--baz" "-d", "--ros-args",
"-r", "__ns:=/foo/bar",
"-r", "__ns:=/fiz/buz",
"--", "--foo=bar", "--baz"
}; };
int argc = sizeof(argv) / sizeof(const char *); int argc = sizeof(argv) / sizeof(const char *);
auto args = rclcpp::remove_ros_arguments(argc, argv); auto args = rclcpp::remove_ros_arguments(argc, argv);

9
rclcpp_components/src/component_manager.cpp
View file

@ -142,13 +142,20 @@ ComponentManager::OnLoadNode(
parameters.push_back(rclcpp::Parameter::from_parameter_msg(p)); parameters.push_back(rclcpp::Parameter::from_parameter_msg(p));
} }
std::vector<std::string> remap_rules {request->remap_rules}; std::vector<std::string> remap_rules;
remap_rules.reserve(request->remap_rules.size() * 2);
for (const std::string & rule : request->remap_rules) {
remap_rules.push_back("-r");
remap_rules.push_back(rule);
}
if (!request->node_name.empty()) { if (!request->node_name.empty()) {
remap_rules.push_back("-r");
remap_rules.push_back("__node:=" + request->node_name); remap_rules.push_back("__node:=" + request->node_name);
} }
if (!request->node_namespace.empty()) { if (!request->node_namespace.empty()) {
remap_rules.push_back("-r");
remap_rules.push_back("__ns:=" + request->node_namespace); remap_rules.push_back("__ns:=" + request->node_namespace);
} }