More unit test fixes.

Distro A, OPSEC #4584. You may have additional rights; please see https://rosmilitary.org/faq/?category=ros-2-license

Signed-off-by: matthew.lanting <[email protected]>

Author: mlanting

launch_ros/launch_ros/actions/node.py

@@ -212,10 +212,10 @@ def parse(cls, entity: Entity, parser: Parser):
         _, kwargs = ExecuteProcess.parse(entity, parser, ignore=['cmd'])
         args = entity.get_attr('args', optional=True)
         if args is not None:
-            kwargs['arguments'] = super()._parse_cmdline(args, parser)
+            kwargs['arguments'] = ExecuteProcess._parse_cmdline(args, parser)
         ros_args = entity.get_attr('ros_args', optional=True)
         if ros_args is not None:
-            kwargs['ros_arguments'] = super()._parse_cmdline(ros_args, parser)
+            kwargs['ros_arguments'] = ExecuteProcess._parse_cmdline(ros_args, parser)
         node_name = entity.get_attr('node-name', optional=True)
         if node_name is not None:
             kwargs['node_name'] = parser.parse_substitution(node_name)

launch_ros/launch_ros/descriptions/node.py

@@ -326,17 +326,27 @@ def _perform_substitutions(self, context: LaunchContext, executable: Executable)
             raise
         self.__final_node_name = prefix_namespace(
             self.__expanded_node_namespace, self.__expanded_node_name)
-        # expand global parameters first,
-        # so they can be overriden with specific parameters of this Node
-        global_params = context.launch_configurations.get('global_params', None)
-        if global_params is not None or self.__parameters is not None:
+
+        # Expand global parameters first,
+        # so they can be overridden with specific parameters of this Node
+        # The params_container list is expected to contain name-value pairs (tuples)
+        # and/or strings representing paths to parameter files.
+        params_container = context.launch_configurations.get('global_params', None)
+
+        if any(x is not None for x in (params_container, self.__parameters)):
             self.__expanded_parameter_arguments = []
-        if global_params is not None:
-            param_file_path = self._create_params_file_from_dict(global_params)
-            self.__expanded_parameter_arguments.append((param_file_path, True))
-            cmd_ext = ['--params-file', f'{param_file_path}']
-            cmd.extend([normalize_to_list_of_substitutions(x) for x in cmd_ext])
-            assert os.path.isfile(param_file_path)
+        if params_container is not None:
+            for param in params_container:
+                if isinstance(param, tuple):
+                    name, value = param
+                    cmd_extension = ['-p', f'{name}:={value}']
+                    cmd.extend([normalize_to_list_of_substitutions(x) for x in cmd_extension])
+                else:
+                    param_file_path = os.path.abspath(param)
+                    self.__expanded_parameter_arguments.append((param_file_path, True))
+                    cmd_extension = ['--params-file', f'{param_file_path}']
+                    assert os.path.isfile(param_file_path)
+                    cmd.extend([normalize_to_list_of_substitutions(x) for x in cmd_extension])
         # expand parameters too
         if self.__parameters is not None:
             evaluated_parameters = evaluate_parameters(context, self.__parameters)
@@ -407,7 +417,7 @@ def _perform_substitutions(self, context: LaunchContext, executable: Executable)
             add_node_name(context, self.node_name)
             node_name_count = get_node_name_count(context, self.node_name)
             if node_name_count > 1:
-                execute_process_logger = launch.logging.get_logger(self.name)
+                execute_process_logger = launch.logging.get_logger(self.node_name)
                 execute_process_logger.warning(
                     'there are now at least {} nodes with the name {} created within this '
                     'launch context'.format(node_name_count, self.node_name)

test_launch_ros/test/test_launch_ros/frontend/test_component_container.py

@@ -114,11 +114,11 @@ def perform(substitution):
         return perform_substitutions(ls.context, substitution)
 
     # Check container params
-    assert perform(node_container._Node__package) == 'rclcpp_components'
-    assert perform(node_container._Node__node_executable) == 'component_container'
-    assert perform(node_container._Node__node_name) == 'my_container'
-    assert perform(node_container._Node__node_namespace) == ''
-    assert perform(node_container._Node__arguments[0]) == 'test_args'
+    assert perform(node_container.node_package) == 'rclcpp_components'
+    assert perform(node_container.node_executable) == 'component_container'
+    assert perform(node_container._Node__node_desc._Node__node_name) == 'my_container'
+    assert perform(node_container._Node__node_desc._Node__node_namespace) == ''
+    assert perform(node_container._Node__ros_exec._Executable__arguments[0]) == 'test_args'
 
     assert perform(load_composable_node._LoadComposableNodes__target_container) == 'my_container'