Consistent node naming (#158)

* Support for easy integration with ros2 security features by starting CLI nodes with a consistent prefix.

* Removing unneeded comment

* Making DirectNode visible (removing hidden node prefix) to have consistent node naming for ros2cli.

* Start all CLI nodes as hidden.

* Shortening the default CLI node name prefix from '_ros2cli_node' to '_ros2cli'

* Importing HIDDEN_NODE_PREFIX from rclpy, renaming CLI_NODE_NAME_PREFIX -> NODE_NAME_PREFIX.

* ros2node - Importing HIDDEN_NODE_PREFIX from rclpy

* Linter fixes.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

ros2cli/ros2cli/node/__init__.py

@@ -0,0 +1,15 @@
+# Copyright 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+from rclpy.node import HIDDEN_NODE_PREFIX
+NODE_NAME_PREFIX = HIDDEN_NODE_PREFIX + 'ros2cli'

ros2cli/ros2cli/node/direct.py

@@ -16,9 +16,7 @@
 
 import rclpy
 
-# TODO(mikaelarguedas) revisit this once it's specified
-HIDDEN_NODE_PREFIX = '_'
-
+from ros2cli.node import NODE_NAME_PREFIX
 DEFAULT_TIMEOUT = 0.5
 
 
@@ -35,7 +33,7 @@ def timer_callback():
 
         node_name_suffix = getattr(
             args, 'node_name_suffix', '_%d' % os.getpid())
-        self.node = rclpy.create_node(HIDDEN_NODE_PREFIX + 'ros2cli_node' + node_name_suffix)
+        self.node = rclpy.create_node(NODE_NAME_PREFIX + node_name_suffix)
         timeout = getattr(args, 'spin_time', DEFAULT_TIMEOUT)
         timer = self.node.create_timer(timeout, timer_callback)
 

ros2node/ros2node/api/__init__.py

@@ -14,11 +14,9 @@
 
 from collections import namedtuple
 
+from rclpy.node import HIDDEN_NODE_PREFIX
 from ros2cli.node.strategy import NodeStrategy
 
-# TODO(mikaelarguedas) revisit this once it's specified
-HIDDEN_NODE_PREFIX = '_'
-
 NodeName = namedtuple('NodeName', ('name', 'namespace', 'full_name'))
 TopicInfo = namedtuple('Topic', ('name', 'types'))
 

ros2service/ros2service/verb/call.py

@@ -16,6 +16,7 @@
 import time
 
 import rclpy
+from ros2cli.node import NODE_NAME_PREFIX
 from ros2service.api import ServiceNameCompleter
 from ros2service.api import ServiceTypeCompleter
 from ros2service.verb import VerbExtension
@@ -76,7 +77,7 @@ def requester(service_type, service_name, values, period):
 
     rclpy.init()
 
-    node = rclpy.create_node('requester_%s_%s' % (package_name, srv_name))
+    node = rclpy.create_node(NODE_NAME_PREFIX + '_requester_%s_%s' % (package_name, srv_name))
 
     cli = node.create_client(srv_module, service_name)
 

ros2topic/ros2topic/verb/pub.py

@@ -15,6 +15,7 @@
 import time
 
 import rclpy
+from ros2cli.node import NODE_NAME_PREFIX
 from ros2topic.api import import_message_type
 from ros2topic.api import set_msg_fields
 from ros2topic.api import SetFieldError
@@ -77,7 +78,7 @@ def publisher(
     if not isinstance(values_dictionary, dict):
         return 'The passed value needs to be a dictionary in YAML format'
     if not node_name:
-        node_name = 'publisher_%s' % (message_type.replace('/', '_'),)
+        node_name = NODE_NAME_PREFIX + '_publisher_%s' % (message_type.replace('/', '_'), )
     rclpy.init()
 
     node = rclpy.create_node(node_name)