Fix push-ros-namespace in xml/yaml launch files (#100)

Signed-off-by: Ivan Santiago Paunovic <[email protected]>

Author: ivanpauno

launch_ros/launch_ros/actions/push_ros_namespace.py

@@ -19,6 +19,7 @@
 from launch import Action
 from launch import Substitution
 from launch.frontend import Entity
+from launch.frontend import expose_action
 from launch.frontend import Parser
 from launch.launch_context import LaunchContext
 from launch.some_substitutions_type import SomeSubstitutionsType
@@ -29,6 +30,7 @@
 from rclpy.validate_namespace import validate_namespace
 
 
+@expose_action('push-ros-namespace')
 class PushRosNamespace(Action):
     """
     Action that pushes the ros namespace.

test_launch_ros/test/test_launch_ros/frontend/test_push_ros_namespace_frontend.py

@@ -0,0 +1,50 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Example of how to parse an xml."""
+
+import io
+import textwrap
+
+from launch import LaunchService
+from launch.frontend import Parser
+
+import pytest
+
+xml_file = \
+    r"""
+    <launch>
+        <push-ros-namespace namespace="asd"/>
+    </launch>
+    """
+xml_file = textwrap.dedent(xml_file)
+yaml_file = \
+    r"""
+    launch:
+        - push-ros-namespace:
+            namespace: 'asd'
+    """
+yaml_file = textwrap.dedent(yaml_file)
+
+
+@pytest.mark.parametrize('file', (xml_file, yaml_file))
+def test_node_frontend(file):
+    """Parse node xml example."""
+    root_entity, parser = Parser.load(io.StringIO(file))
+    ld = parser.parse_description(root_entity)
+    ls = LaunchService()
+    ls.include_launch_description(ld)
+    assert 0 == ls.run()
+    assert 'ros_namespace' in ls.context.launch_configurations
+    assert '/asd' == ls.context.launch_configurations['ros_namespace']