Update launch_ros action usage (#431)

* Update launch_ros Node action usage

node_name and node_namespace parameters have been deprecated in ros2/launch_ros#122

* Update LifecycleNode action usage

The parameter 'node_name' is deprecated, replaced by 'name'.

* Update ComposableNode action usage

Signed-off-by: Jacob Perron <[email protected]>

Author: jacobperron

composition/launch/composition_demo.launch.py

@@ -22,19 +22,19 @@
 def generate_launch_description():
     """Generate launch description with multiple components."""
     container = ComposableNodeContainer(
-            node_name='my_container',
-            node_namespace='',
+            name='my_container',
+            namespace='',
             package='rclcpp_components',
             node_executable='component_container',
             composable_node_descriptions=[
                 ComposableNode(
                     package='composition',
-                    node_plugin='composition::Talker',
-                    node_name='talker'),
+                    plugin='composition::Talker',
+                    name='talker'),
                 ComposableNode(
                     package='composition',
-                    node_plugin='composition::Listener',
-                    node_name='listener')
+                    plugin='composition::Listener',
+                    name='listener')
             ],
             output='screen',
     )

image_tools/test/test_executables_demo.py.in

@@ -54,7 +54,7 @@ def generate_test_description():
 
     showimage_node = Node(
         node_executable=showimage_executable,
-        node_name=showimage_name,
+        name=showimage_name,
         parameters=[subscriber_node_parameters],
         output='screen'
     )
@@ -67,7 +67,7 @@ def generate_test_description():
 
     cam2image_node = Node(
         node_executable=cam2image_executable,
-        node_name=cam2image_name,
+        name=cam2image_name,
         parameters=[publisher_node_parameters],
         output='screen'
     )

lifecycle/launch/lifecycle_demo.launch.py

@@ -20,7 +20,7 @@
 def generate_launch_description():
     return LaunchDescription([
         LifecycleNode(package='lifecycle', node_executable='lifecycle_talker',
-                      node_name='lc_talker', output='screen'),
+                      name='lc_talker', output='screen'),
         Node(package='lifecycle', node_executable='lifecycle_listener', output='screen'),
         Node(package='lifecycle', node_executable='lifecycle_service_client', output='screen')
     ])

lifecycle/test/test_lifecycle.py

@@ -33,11 +33,11 @@
 def generate_test_description():
     talker_node = launch_ros.actions.LifecycleNode(
         package='lifecycle', node_executable='lifecycle_talker',
-        node_name='lc_talker', output='screen'
+        name='lc_talker', output='screen'
     )
     listener_node = launch_ros.actions.Node(
         package='lifecycle', node_executable='lifecycle_listener',
-        node_name='listener', output='screen'
+        name='listener', output='screen'
     )
     return launch.LaunchDescription([
         talker_node, listener_node,