Fix misleading deprecated warnings when using launch arguments (#106)

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

Author: ivanpauno

launch_ros/launch_ros/default_launch_description.py

@@ -28,11 +28,12 @@
 class ROSSpecificLaunchStartup(launch.actions.OpaqueFunction):
     """Does ROS specific launch startup."""
 
-    def __init__(self, rclpy_context=None):
+    def __init__(self, rclpy_context=None, argv=None):
         """Create a ROSSpecificLaunchStartup opaque function."""
         super().__init__(function=self._function)
         self.__shutting_down = False
         self.__rclpy_context = rclpy_context
+        self.__argv = None
 
     def _shutdown(self, event: launch.Event, context: launch.LaunchContext):
         self.__shutting_down = True
@@ -57,7 +58,7 @@ def _function(self, context: launch.LaunchContext):
         try:
             if self.__rclpy_context is None:
                 # Initialize the default global context
-                rclpy.init(args=context.argv)
+                rclpy.init(args=self.__argv)
         except RuntimeError as exc:
             if 'rcl_init called while already initialized' in str(exc):
                 pass

ros2launch/ros2launch/api/api.py

@@ -141,7 +141,7 @@ def launch_a_launch_file(*, launch_file_path, launch_file_arguments, debug=False
     """Launch a given launch file (by path) and pass it the given launch file arguments."""
     launch_service = launch.LaunchService(argv=launch_file_arguments, debug=debug)
     context = rclpy.context.Context()
-    rclpy.init(args=launch_file_arguments, context=context)
+    rclpy.init(args=[], context=context)
     launch_service.include_launch_description(
         launch_ros.get_default_launch_description(
             rclpy_context=context,

ros2launch/ros2launch/command/launch.py

@@ -61,9 +61,6 @@ def add_arguments(self, parser, cli_name):
             nargs='*',
             help="Arguments to the launch file; '<name>:=<value>' (for duplicates, last one wins)")
         arg.completer = LaunchFileNameCompleter()
-        parser.add_argument(
-            'argv', nargs=REMAINDER,
-            help='Pass arbitrary arguments to the launch file')
 
     def main(self, *, parser, args):
         """Entry point for CLI program."""