Fix 'ros2 topic hz'

[christophebedard]

Fixes #1002

Follow-up to #998, which backported a commit from Rolling to Jazzy that included unrelated changes that Jazzy doesn't have:

1. _rostopic_hz() does not expect the qos_args arg, since Jazzy doesn't have Add support for topic QOS for ros2topic bw, delay and hz #935
   • This is the original bug report from _rostopic_hz() got an unexpected keyword argument 'qos_args' #1002
2. args.topic_name contains a single topic name, since Jazzy doesn't have Support multiple topics via ros2 topic hz. #929, which also means that _rostopic_hz() only expects a single topic name, and not a list

Run a node:

$ ros2 run examples_rclcpp_minimal_publisher publisher_member_function

Before:

$ ros2 topic hz /topic
Traceback (most recent call last):
  File "/home/christophe.bedard/ros2_ws_jazzy/install/ros2cli/bin/ros2", line 33, in <module>
    sys.exit(load_entry_point('ros2cli', 'console_scripts', 'ros2')())
  File "/home/christophe.bedard/ros2_ws_jazzy/build/ros2cli/ros2cli/cli.py", line 91, in main
    rc = extension.main(parser=parser, args=args)
  File "/home/christophe.bedard/ros2_ws_jazzy/build/ros2topic/ros2topic/command/topic.py", line 41, in main
    return extension.main(args=args)
  File "/home/christophe.bedard/ros2_ws_jazzy/build/ros2topic/ros2topic/verb/hz.py", line 87, in main
    return main(args)
  File "/home/christophe.bedard/ros2_ws_jazzy/build/ros2topic/ros2topic/verb/hz.py", line 152, in main
    _rostopic_hz(node.node, topics, qos_args=args, window_size=args.window_size,
TypeError: _rostopic_hz() got an unexpected keyword argument 'qos_args'

If I only fix (1) and not (2), the topic name string gets split into single characters:

$ ros2 topic hz topic --filter 'True'
WARNING: topic [t] does not appear to be published yet

After:

$ ros2 topic hz topic --filter 'True'
average rate: 2.000
        min: 0.500s max: 0.500s std dev: 0.00011s window: 3
average rate: 2.000
        min: 0.499s max: 0.501s std dev: 0.00058s window: 6

[fujitatomoya]

i was wondering why we could not detect this failure, turns out CI parameter is wrong, ros2topic was not tested. https://ci.ros2.org/job/ci_launcher/15562/parameters/ i missed that, sorry.

[christophebedard]

Yeah, I looked into that. Just a simple mistake.

Some of the CI jobs listed here in the original PR were unrelated to the PR: #998 (review). Only the ci_linux-aarch64 and ci_windows jobs tested the PR. The test_cli tests aren't run on Windows, but they ran in the ci_linux-aarch64 job and failed: https://ci.ros2.org/job/ci_linux-aarch64/17214/testReport/ros2topic.ros2topic.test/test_cli/test_cli/.

[fujitatomoya]

lgtm with green CI.

[fujitatomoya]

Pulls: #1003
Gist: https://gist.githubusercontent.com/fujitatomoya/8395f8fbc368ec4dfa2a196a6add027c/raw/dd79551d329f529c5ffa0d783984e0baee8f6169/ros2.repos
BUILD args: --packages-above-and-dependencies ros2topic
TEST args: --packages-above ros2topic
ROS Distro: jazzy
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/15595

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[christophebedard]

There were linter issues :/ I'll abort and re-trigger the CI jobs

[christophebedard]

It doesn't like the data attribute:

ros2cli/ros2topic/test/test_cli.py

Line 827 in f037c19

'int(m.data.rpartition(\":\")[-1]) % 2 == 0',

    File "/home/jenkins-agent/workspace/ci_linux-aarch64/ws/install/ros2topic/lib/python3.12/site-packages/ros2topic/eval/__init__.py", line 78, in generic_visit
      raise ValidationException(
  ros2topic.eval.ValidationException: Attribute data is not allowed

See https://ci.ros2.org/job/ci_linux-aarch64/17257/testReport/ros2topic.ros2topic.test/test_cli/test_cli/.

Does this mean that the "safe evaluation" will reject most expressions that try to access a message's fields?

I'll have to pick this back up this weekend.

[christophebedard]

Reverting the original change for now: #1004

[christophebedard]

We'll probably end up addressing these issues in the new Rolling PR (#1001) and then backport it to Jazzy.