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Make namespace parameter mandatory in LifecycleNode constructor #157

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merged 8 commits into from
Jun 25, 2020
Merged

Make namespace parameter mandatory in LifecycleNode constructor #157

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c1406bb
Fix namespace parameter in LifecycleNode
ivanpauno Jun 23, 2020
15fe7b5
Fix new test
ivanpauno Jun 23, 2020
006a5b8
Address peer review comment
ivanpauno Jun 23, 2020
817ebd7
Update example
ivanpauno Jun 23, 2020
368a0af
Please linters
ivanpauno Jun 23, 2020
a9e4c10
Cover LifecycleNode in the tests
ivanpauno Jun 23, 2020
4253a34
Fix errors
ivanpauno Jun 24, 2020
620801e
Correct comments
ivanpauno Jun 24, 2020
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8 changes: 5 additions & 3 deletions launch_ros/launch_ros/actions/lifecycle_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@
import warnings

import launch
from launch import SomeSubstitutionsType
from launch.action import Action
import launch.logging

Expand All @@ -42,8 +43,9 @@ class LifecycleNode(Node):
def __init__(
self,
*,
name: Optional[Text] = None,
node_name: Optional[Text] = None,
name: Optional[SomeSubstitutionsType] = None,
namespace: SomeSubstitutionsType = '',
node_name: Optional[SomeSubstitutionsType] = None,
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**kwargs
) -> None:
"""
Expand Down Expand Up @@ -87,7 +89,7 @@ def __init__(
# TODO(jacobperron): Remove default value and this check when deprecated API is removed
if name is None:
raise RuntimeError("'name' must not be None.'")
super().__init__(name=name, **kwargs)
super().__init__(name=name, namespace=namespace, **kwargs)
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self.__logger = launch.logging.get_logger(__name__)
self.__rclpy_subscription = None
self.__current_state = \
Expand Down
31 changes: 29 additions & 2 deletions test_launch_ros/test/test_launch_ros/actions/test_node.py
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Expand Up @@ -44,8 +44,6 @@ def _assert_launch_no_errors(self, actions):
def _create_node(self, *, parameters=None, remappings=None):
return launch_ros.actions.Node(
package='demo_nodes_py', executable='talker_qos', output='screen',
# The node name is required for parameter dicts.
# See https://github.com/ros2/launch/issues/139.
name='my_node', namespace='my_ns',
exec_name='my_node_process',
arguments=['--number_of_cycles', '1'],
Expand Down Expand Up @@ -300,3 +298,32 @@ def test_launch_node_with_invalid_parameter_dicts(self):
},
},
}])

def test_node_name():
node_without_ns = launch_ros.actions.Node(
package='asd',
executable='bsd',
name='my_node',
)
lc = launch.LaunchContext()
node_without_ns._perform_substitutions(context)
assert not node.is_node_name_fully_specified()

node_without_name = launch_ros.actions.Node(
package='asd',
executable='bsd',
namespace='my_ns',
)
lc = launch.LaunchContext()
node_without_ns._perform_substitutions(context)
assert not node.is_node_name_fully_specified()

node_with_fqn = launch_ros.actions.Node(
package='asd',
executable='bsd',
name='my_node',
namespace='my_ns',
)
lc = launch.LaunchContext()
node_without_ns._perform_substitutions(context)
assert node.is_node_name_fully_specified()