Allow for raw path specification in IncludeLaunchDescription (#544)

* Allow for raw path specification in IncludeLaunchDescription

Signed-off-by: David V. Lu <[email protected]>

* Rename variable, add extra exception case

Signed-off-by: David V. Lu <[email protected]>

* Use single parameter

Signed-off-by: David V. Lu <[email protected]>

* Some tests?

Signed-off-by: David V. Lu <[email protected]>

* Move and consolidate tests

Signed-off-by: David V. Lu <[email protected]>

Author: DLu

launch/launch/actions/include_launch_description.py

@@ -19,6 +19,7 @@
 from typing import List
 from typing import Optional
 from typing import Tuple
+from typing import Union
 
 from .set_launch_configuration import SetLaunchConfiguration
 from ..action import Action
@@ -63,7 +64,7 @@ class IncludeLaunchDescription(Action):
 
     def __init__(
         self,
-        launch_description_source: LaunchDescriptionSource,
+        launch_description_source: Union[LaunchDescriptionSource, SomeSubstitutionsType],
         *,
         launch_arguments: Optional[
             Iterable[Tuple[SomeSubstitutionsType, SomeSubstitutionsType]]
@@ -72,6 +73,8 @@ def __init__(
     ) -> None:
         """Create an IncludeLaunchDescription action."""
         super().__init__(**kwargs)
+        if not isinstance(launch_description_source, LaunchDescriptionSource):
+            launch_description_source = AnyLaunchDescriptionSource(launch_description_source)
         self.__launch_description_source = launch_description_source
         self.__launch_arguments = () if launch_arguments is None else tuple(launch_arguments)
 
@@ -80,7 +83,7 @@ def parse(cls, entity: Entity, parser: Parser):
         """Return `IncludeLaunchDescription` action and kwargs for constructing it."""
         _, kwargs = super().parse(entity, parser)
         file_path = parser.parse_substitution(entity.get_attr('file'))
-        kwargs['launch_description_source'] = AnyLaunchDescriptionSource(file_path)
+        kwargs['launch_description_source'] = file_path
         args = entity.get_attr('arg', data_type=List[Entity], optional=True)
         if args is not None:
             kwargs['launch_arguments'] = [

launch/test/launch/actions/test_include_launch_description.py

@@ -23,6 +23,7 @@
 from launch.actions import DeclareLaunchArgument
 from launch.actions import IncludeLaunchDescription
 from launch.actions import SetLaunchConfiguration
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.utilities import perform_substitutions
 
 import pytest
@@ -185,3 +186,31 @@ def test_include_launch_description_launch_arguments():
     )
     lc2 = LaunchContext()
     action2.visit(lc2)
+
+
+def test_include_python():
+    """Test including Python, with and without explicit PythonLaunchDescriptionSource."""
+    this_dir = os.path.dirname(os.path.abspath(__file__))
+    simple_launch_file_path = os.path.join(this_dir,
+                                           '..',
+                                           'launch_description_source',
+                                           'simple.launch.py')
+
+    # Explicitly construct with PythonLaunchDescriptionSource
+    plds = PythonLaunchDescriptionSource(simple_launch_file_path)
+    action0 = IncludeLaunchDescription(plds)
+
+    # Construct action with path instead of PythonLaunchDescriptionSource object
+    action1 = IncludeLaunchDescription(simple_launch_file_path)
+
+    # The two actions should be equivalent
+    for action in [action0, action1]:
+        assert 'IncludeLaunchDescription' in action.describe()
+        assert isinstance(action.describe_sub_entities(), list)
+        assert isinstance(action.describe_conditional_sub_entities(), list)
+        # Result should only contain a single launch description as there are no launch arguments.
+        assert len(action.visit(LaunchContext())) == 1
+        assert action.get_asyncio_future() is None
+        assert len(action.launch_arguments) == 0
+
+        assert action.launch_description_source.location == simple_launch_file_path