Add --remap argument to launch command

Signed-off-by: Jonathan <[email protected]>

Author: JoLichtenfeld

ros2launch/ros2launch/api/api.py

@@ -25,6 +25,7 @@
 import launch
 from launch.frontend import Parser
 from launch.launch_description_sources import get_launch_description_from_any_launch_file
+from launch_ros.actions import SetRemap
 
 
 class MultipleLaunchFilesError(Exception):
@@ -145,7 +146,8 @@ def launch_a_launch_file(
     noninteractive=False,
     args=None,
     option_extensions={},
-    debug=False
+    debug=False,
+    remap_rules=None
 ):
     """Launch a given launch file (by path) and pass it the given launch file arguments."""
     for name in sorted(option_extensions.keys()):
@@ -167,14 +169,19 @@ def launch_a_launch_file(
     parsed_launch_arguments = parse_launch_arguments(launch_file_arguments)
     # Include the user provided launch file using IncludeLaunchDescription so that the
     # location of the current launch file is set.
-    launch_description = launch.LaunchDescription([
+    launch_description = launch.LaunchDescription()
+    if remap_rules is not None:
+        for remap_rule in remap_rules:
+            from_name, to_name = remap_rule.split(':=', maxsplit=1)
+            launch_description.add_action(SetRemap(src=from_name, dst=to_name))
+    launch_description.add_action(
         launch.actions.IncludeLaunchDescription(
             launch.launch_description_sources.AnyLaunchDescriptionSource(
                 launch_file_path
             ),
             launch_arguments=parsed_launch_arguments,
         ),
-    ])
+    )
     for name in sorted(option_extensions.keys()):
         result = option_extensions[name].prelaunch(
             launch_description,

ros2launch/ros2launch/command/launch.py

@@ -102,6 +102,10 @@ def add_arguments(self, parser, cli_name):
             help=('Regex pattern for filtering which executables the --launch-prefix is applied '
                   'to by matching the executable name.')
         )
+        parser.add_argument(
+            '-r', '--remap', action='append', dest='remap_rules',
+            help=("Topics remapping rules, in the 'from:=to' form")
+        )
         arg = parser.add_argument(
             'package_name',
             help='Name of the ROS package which contains the launch file')
@@ -175,5 +179,6 @@ def main(self, *, parser, args):
                 noninteractive=args.noninteractive,
                 args=args,
                 option_extensions=self._option_extensions,
-                debug=args.debug
+                debug=args.debug,
+                remap_rules=args.remap_rules
             )