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Change bridge_name to name and bridge_params to parameters #673

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fbafa39
Change bridge_name to name and bridge_params to parameters
azeey Dec 11, 2024
e7bc508
Merge branch 'ros2' into rename_args
ahcorde May 21, 2025
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56 changes: 35 additions & 21 deletions ros_gz_bridge/ros_gz_bridge/actions/ros_gz_bridge.py
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
from launch.action import Action
from launch.frontend import Entity, expose_action, Parser
from launch.launch_context import LaunchContext
import launch.logging
from launch.some_substitutions_type import SomeSubstitutionsType
from launch.substitutions import TextSubstitution
from launch.utilities import ensure_argument_type
Expand All @@ -35,40 +36,48 @@ class RosGzBridge(Action):
def __init__(
self,
*,
bridge_name: SomeSubstitutionsType,
name: Optional[SomeSubstitutionsType] = None,
bridge_name: Optional[SomeSubstitutionsType] = None,
config_file: SomeSubstitutionsType,
container_name: SomeSubstitutionsType = 'ros_gz_container',
create_own_container: Union[bool, SomeSubstitutionsType] = False,
namespace: SomeSubstitutionsType = '',
use_composition: Union[bool, SomeSubstitutionsType] = False,
use_respawn: Union[bool, SomeSubstitutionsType] = False,
log_level: SomeSubstitutionsType = 'info',
bridge_params: Optional[SomeParameters] = None,
parameters: Optional[SomeParameters] = None,
**kwargs
) -> None:
"""
Construct a ros_gz bridge action.

:param: bridge_name Name of ros_gz_bridge node
:param: name Name of ros_gz_bridge node
:param: config_file YAML config file.
:param: container_name Name of container that nodes will load in if use composition.
:param: create_own_container Whether to start a ROS container when using composition.
:param: namespace Top-level namespace.
:param: use_composition Use composed bringup if True.
:param: use_respawn Whether to respawn if a node crashes (when composition is disabled).
:param: log_level Log level.
:param: bridge_params Extra parameters to pass to the bridge.
:param: parameters Extra parameters to pass to the bridge.
"""
super().__init__(**kwargs)

self.__bridge_name = bridge_name
if name is None and bridge_name is None:
raise RuntimeError('RosGzBridge: One of the attributes "name" or "bridge_name" is required')
elif name is None:
logger = launch.logging.get_logger(__name__)
logger.warning('The attribute "bridge_name" is deprecated, please use "name" instead')
name = bridge_name

self.__name = name
self.__config_file = config_file
self.__container_name = container_name
self.__namespace = namespace

# This is here to allow using strings or booleans as values for boolean variables when
# the Action is used from Python i.e., this allows users to do:
# RosGzBridge(bridge_name='bridge1', use_composition='true', create_own_container=True)
# RosGzBridge(name='bridge1', use_composition='true', create_own_container=True)
# Note that use_composition is set to a string while create_own_container is set to a
# boolean. The reverse would also work.
# At some point, we might want to deprecate this and only allow setting booleans since
Expand All @@ -91,22 +100,23 @@ def __init__(

self.__use_respawn = normalize_typed_substitution(use_respawn, bool)
self.__log_level = log_level
self.__bridge_params = [{'config_file': self.__config_file}]
if bridge_params is not None:
# This handling of bridge_params was copied from launch_ros/actions/node.py
ensure_argument_type(bridge_params, (list), 'bridge_params', 'RosGzBridge')
self.__parameters = [{'config_file': self.__config_file}]
if parameters is not None:
# This handling of parameters was copied from launch_ros/actions/node.py
ensure_argument_type(parameters, (list), 'parameters', 'RosGzBridge')
# All elements in the list are paths to files with parameters (or substitutions that
# evaluate to paths), or dictionaries of parameters (fields can be substitutions).
self.__bridge_params.extend(cast(list, bridge_params))
self.__parameters.extend(cast(list, parameters))

@classmethod
def parse(cls, entity: Entity, parser: Parser):
"""Parse ros_gz_bridge."""
kwargs: Dict = super().parse(entity, parser)[1]

bridge_name = entity.get_attr(
'bridge_name', data_type=str,
optional=False)
name = entity.get_attr('name', data_type=str, optional=True)

# Handle deprecated bridge_name attribute
bridge_name = entity.get_attr('bridge_name', data_type=str, optional=True)

config_file = entity.get_attr(
'config_file', data_type=str,
Expand Down Expand Up @@ -138,6 +148,10 @@ def parse(cls, entity: Entity, parser: Parser):

parameters = entity.get_attr('param', data_type=List[Entity], optional=True)

if isinstance(name, str):
name = parser.parse_substitution(name)
kwargs['name'] = name

if isinstance(bridge_name, str):
bridge_name = parser.parse_substitution(bridge_name)
kwargs['bridge_name'] = bridge_name
Expand Down Expand Up @@ -172,7 +186,7 @@ def parse(cls, entity: Entity, parser: Parser):
kwargs['log_level'] = log_level

if parameters is not None:
kwargs['bridge_params'] = Node.parse_nested_parameters(parameters, parser)
kwargs['parameters'] = Node.parse_nested_parameters(parameters, parser)

return cls, kwargs

Expand All @@ -192,12 +206,12 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
launch_descriptions.append(Node(
package='ros_gz_bridge',
executable='bridge_node',
name=self.__bridge_name,
name=self.__name,
namespace=self.__namespace,
output='screen',
respawn=perform_typed_substitution(context, self.__use_respawn, bool),
respawn_delay=2.0,
parameters=self.__bridge_params,
parameters=self.__parameters,
arguments=['--ros-args', '--log-level', self.__log_level],
))

Expand All @@ -212,9 +226,9 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
ComposableNode(
package='ros_gz_bridge',
plugin='ros_gz_bridge::RosGzBridge',
name=self.__bridge_name,
name=self.__name,
namespace=self.__namespace,
parameters=self.__bridge_params,
parameters=self.__parameters,
extra_arguments=[{'use_intra_process_comms': True}],
),
],
Expand All @@ -229,9 +243,9 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
ComposableNode(
package='ros_gz_bridge',
plugin='ros_gz_bridge::RosGzBridge',
name=self.__bridge_name,
name=self.__name,
namespace=self.__namespace,
parameters=self.__bridge_params,
parameters=self.__parameters,
extra_arguments=[{'use_intra_process_comms': True}],
),
],
Expand Down
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