Merge pull request #4 from CoreSenseEU/fix_launchers

Add Launcher support

.github/workflows/main.yaml

@@ -11,18 +11,21 @@ on:
 jobs:
   build-and-test:
     runs-on: ${{ matrix.os }}
-    container:
-      image: osrf/ros:humble-desktop
     strategy:
       matrix:
-        os: [ubuntu-22.04]
+        os: [ubuntu-24.04]
       fail-fast: false
     steps:
-      - uses: ros-tooling/setup-ros@v0.6
+      - uses: ros-tooling/setup-ros@0.7.7
         with:
-          required-ros-distributions: humble
-      - uses: ros-tooling/action-ros-ci@v0.3
+          required-ros-distributions: rolling
+      - uses: ros-tooling/action-ros-ci@0.3.13
         with:
           package-name: rossdl_cmake rossdl_simple_test system_a system_b application_1 application_2 application_3
-          target-ros2-distro: humble
-
+          target-ros2-distro: rolling
+          colcon-defaults: |
+            {
+              "test": {
+                "parallel-workers" : 1
+              }
+            }

rossdl_cmake/CMakeLists.txt

@@ -27,19 +27,21 @@ install(
   DESTINATION share/${PROJECT_NAME}
 )
 
-install(
-  FILES
-    tests/description.ros2
-    tests/description.rossystem
-    tests/Nodes.hpp.test
-    tests/Nodes.cpp.test
-    tests/system_1.launch.py.test
-  DESTINATION share/${PROJECT_NAME}
-)
-
 if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
   ament_add_pytest_test(test_rossdl tests/test_rossdl.py)
+
+  install(
+    FILES
+      tests/description.ros2
+      tests/description.rossystem
+      tests/Nodes.hpp.test
+      tests/Nodes.cpp.test
+      tests/system_1.launch.py.test
+      tests/system_2.launch.py.test
+    DESTINATION share/${PROJECT_NAME}
+  )
+
 endif()
 
 ament_package(

rossdl_cmake/resources/launcher.py.em

@@ -22,7 +22,7 @@ remappings = get_system_remappings(system_info, arfifacts)
 parameters = get_system_parameters(system_info, arfifacts)
 }@
 
-from launch_ros.actions import LoadComposableNodes
+from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
 from launch import LaunchDescription
 from launch_ros.actions import Node
@@ -69,9 +69,9 @@ node_name = node[0]
                     plugin = '@(node[1])',
                     name = '@(node_name)',
                     remappings = [
-@[  for remap in remappings[node_name]]@
+@[  if node_name in remappings.keys()]@[      for remap in remappings[node_name]]@
                         @(remap),
-@[  end for]                    ],
+@[      end for]@[  end if]                    ],
                     parameters=[{
 @[  if node_name in list(parameters)]@
 @[      for parameter in parameters[node_name]]@

rossdl_cmake/rossdl_cmake/__init__.py

@@ -315,11 +315,13 @@ def generate_launch(package, file_in, launch_in, file_out, system, systems_data,
     file_output = StringIO()
     content = ''
     try:
+        em.Interpreter._wasProxyInstalled = False
         _interpreter = em.Interpreter(
             output=file_output,
             options={
                 em.BUFFERED_OPT: True,
                 em.RAW_OPT: True,
+                em.OVERRIDE_OPT: False,
             })
 
         with open(launch_in, 'r') as h:

rossdl_cmake/tests/system_1.launch.py.test

@@ -48,7 +48,7 @@ def generate_launch_description():
                     ],
                     parameters=[{
                         'description_label': 'image raw',
-                        'use_sim_time': False,
+                        'use_sim_time': True,
                     }],
                 ),
                 ComposableNode(
@@ -59,7 +59,7 @@ def generate_launch_description():
                         ('/consumer/image_out', '/other_node/image_in'),
                     ],
                     parameters=[{
-                        'use_sim_time': False,
+                        'use_sim_time': True,
                     }],
                 ),
     ])

rossdl_cmake/tests/system_2.launch.py.test

@@ -0,0 +1,72 @@
+# generated from rossdl_cmake/resource/launcher.py.em
+# DO NOT EDIT THIS FILE
+# generated code does not contain a copyright notice
+
+
+from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes
+from launch_ros.descriptions import ComposableNode
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument
+
+def generate_launch_description():
+
+    create_container = LaunchConfiguration('create_container')
+    container_name = LaunchConfiguration('container_name')
+
+    declare_create_container_cmd = DeclareLaunchArgument(
+        'create_container',
+        default_value='True',
+        description='Whether run a container')
+
+    declare_container_name_cmd = DeclareLaunchArgument(
+        'container_name',
+        default_value='rossdl_test_container',
+        description='Name of the container')
+
+    container_cmd = Node(
+        condition=IfCondition(create_container),
+        name=container_name,
+        package='rclcpp_components',
+        executable='component_container',
+        output='both',
+    )
+
+    load_composable_nodes = LoadComposableNodes(
+        target_container=container_name,
+            composable_node_descriptions=[
+                ComposableNode(
+                    package = 'rossdl_test',
+                    plugin = 'rossdl_test::ImageFilter',
+                    name = 'image_filter',
+                    remappings = [
+                        ('/image_filter/image_out', '/consumer/image_in'),
+                        ('/image_filter/description_out', '/consumer/description_in'),
+                    ],
+                    parameters=[{
+                        'description_label': 'image compressed',
+                        'use_sim_time': False,
+                    }],
+                ),
+                ComposableNode(
+                    package = 'rossdl_test',
+                    plugin = 'rossdl_test::Consumer',
+                    name = 'consumer',
+                    remappings = [
+                    ],
+                    parameters=[{
+                        'use_sim_time': False,
+                    }],
+                ),
+    ])
+
+    ld = LaunchDescription()
+
+    ld.add_action(declare_create_container_cmd)
+    ld.add_action(declare_container_name_cmd)
+    ld.add_action(container_cmd)
+    ld.add_action(load_composable_nodes)
+
+    return ld