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Add regex filter for selective launch-prefix application #261

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merged 7 commits into from
Sep 3, 2021
Merged

Add regex filter for selective launch-prefix application #261

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9183140
Added launch-prefix-filter argument with passing to launch via launch…
Jul 23, 2021
615aa3b
Modify launch prefix filter argument to be a regex pattern
Aug 17, 2021
ae037e6
Typo fix in error message
Aug 18, 2021
71ec927
Simplify launch prefix argument checking
camm73 Sep 3, 2021
984a6f8
Remove redundant type
Sep 3, 2021
ae91d0e
Missed launch prefix filter argument check simplification
camm73 Sep 3, 2021
220f1b2
Styling fix
Sep 3, 2021
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5 changes: 4 additions & 1 deletion ros2launch/ros2launch/api/api.py
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Original file line number Diff line number Diff line change
Expand Up @@ -153,9 +153,12 @@ def launch_a_launch_file(

# If 'launch-prefix' launch file argument is also provided in the user input,
# the 'launch-prefix' option is applied since the last duplicate argument is used
if args is not None and args.launch_prefix is not None and len(args.launch_prefix) > 0:
if args and args.launch_prefix:
launch_file_arguments.append(f'launch-prefix:={args.launch_prefix}')

if args and args.launch_prefix_filter:
launch_file_arguments.append(f'launch-prefix-filter:={args.launch_prefix_filter}')

launch_service = launch.LaunchService(
argv=launch_file_arguments,
noninteractive=noninteractive,
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9 changes: 9 additions & 0 deletions ros2launch/ros2launch/command/launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -97,6 +97,11 @@ def add_arguments(self, parser, cli_name):
'Command must be wrapped in quotes if it contains spaces '
"(e.g. --launch-prefix 'xterm -e gdb -ex run --args')."
)
parser.add_argument(
'--launch-prefix-filter',
help=('Regex pattern for filtering which executables the --launch-prefix is applied '
'to by matching the executable name.')
)
arg = parser.add_argument(
'package_name',
help='Name of the ROS package which contains the launch file')
Expand Down Expand Up @@ -153,6 +158,10 @@ def main(self, *, parser, args):
raise RuntimeError('unexpected mode')
launch_arguments.extend(args.launch_arguments)

if args.launch_prefix is None and args.launch_prefix_filter is not None:
raise RuntimeError(
'--launch-prefix must be specified if --launch-prefix-filter is provided')

if args.show_all_subprocesses_output:
os.environ['OVERRIDE_LAUNCH_PROCESS_OUTPUT'] = 'both'
if args.print:
Expand Down