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

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merged 1 commit into from
Sep 3, 2019
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Use of -r/--remap flags where appropriate. #834

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2 changes: 1 addition & 1 deletion rclcpp/test/test_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -66,7 +66,7 @@ TEST_F(TestNode, get_name_and_namespace) {
}
{
auto options = rclcpp::NodeOptions()
.arguments({"__ns:=/another_ns"});
.arguments({"-r", "__ns:=/another_ns"});
auto node = std::make_shared<rclcpp::Node>("my_node", "/ns", options);
EXPECT_STREQ("my_node", node->get_name());
EXPECT_STREQ("/another_ns", node->get_namespace());
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7 changes: 4 additions & 3 deletions rclcpp/test/test_node_global_args.cpp
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Expand Up @@ -28,14 +28,15 @@ class TestNodeWithGlobalArgs : public ::testing::Test
protected:
static void SetUpTestCase()
{
const char * const args[] = {"proc", "--ros-args", "__node:=global_node_name"};
rclcpp::init(3, args);
const char * const args[] = {"proc", "--ros-args", "-r", "__node:=global_node_name"};
const int argc = sizeof(args) / sizeof(const char *);
rclcpp::init(argc, args);
}
};

TEST_F(TestNodeWithGlobalArgs, local_arguments_before_global) {
auto options = rclcpp::NodeOptions()
.arguments({"__node:=local_arguments_test"});
.arguments({"-r", "__node:=local_arguments_test"});

auto node = rclcpp::Node::make_shared("orig_name", options);
EXPECT_STREQ("local_arguments_test", node->get_name());
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8 changes: 4 additions & 4 deletions rclcpp/test/test_node_options.cpp
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Expand Up @@ -27,7 +27,7 @@
TEST(TestNodeOptions, implicit_ros_args) {
rcl_allocator_t allocator = rcl_get_default_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();
ASSERT_TRUE(rcl_options != nullptr);
Expand All @@ -52,7 +52,7 @@ TEST(TestNodeOptions, implicit_ros_args) {
TEST(TestNodeOptions, explicit_ros_args) {
rcl_allocator_t allocator = rcl_get_default_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();
ASSERT_TRUE(rcl_options != nullptr);
Expand All @@ -77,8 +77,8 @@ TEST(TestNodeOptions, explicit_ros_args) {
TEST(TestNodeOptions, explicit_ros_args_and_non_ros_args) {
rcl_allocator_t allocator = rcl_get_default_allocator();
auto options = rclcpp::NodeOptions(allocator).arguments({
"--non-ros-flag", "--ros-args", "__node:=some_node",
"__ns:=/some_ns", "--", "non-ros-arg"});
"--non-ros-flag", "--ros-args", "-r", "__node:=some_node",
"-r", "__ns:=/some_ns", "--", "non-ros-arg"});

const rcl_node_options_t * rcl_options = options.get_rcl_node_options();
ASSERT_TRUE(rcl_options != nullptr);
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7 changes: 5 additions & 2 deletions rclcpp/test/test_utilities.cpp
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Expand Up @@ -23,8 +23,11 @@

TEST(TestUtilities, remove_ros_arguments) {
const char * const argv[] = {
"process_name", "-d", "--ros-args", "__ns:=/foo/bar", "__ns:=/fiz/buz", "--",
"--foo=bar", "--baz"
"process_name",
"-d", "--ros-args",
"-r", "__ns:=/foo/bar",
"-r", "__ns:=/fiz/buz",
"--", "--foo=bar", "--baz"
};
int argc = sizeof(argv) / sizeof(const char *);
auto args = rclcpp::remove_ros_arguments(argc, argv);
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9 changes: 8 additions & 1 deletion rclcpp_components/src/component_manager.cpp
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Expand Up @@ -142,13 +142,20 @@ ComponentManager::OnLoadNode(
parameters.push_back(rclcpp::Parameter::from_parameter_msg(p));
}

std::vector<std::string> remap_rules {request->remap_rules};
std::vector<std::string> remap_rules;
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Is there a test checking if passing arguments to the component manager works ok?
If not, it would be good to add one here or in a follow-up PR.

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There is one, to some extent, here. I'd rather keep test coverage extension in a separate PR if we want it.

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()) {
remap_rules.push_back("-r");
remap_rules.push_back("__node:=" + request->node_name);
}

if (!request->node_namespace.empty()) {
remap_rules.push_back("-r");
remap_rules.push_back("__ns:=" + request->node_namespace);
}

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