Fix frontend topic remapping (#111)

* Add frontend remap test

Signed-off-by: Jacob Perron <[email protected]>

* Pass data_type parameter to remap entity

This resolves an issue where frontend remaps are not parsed.

Signed-off-by: Jacob Perron <[email protected]>

Author: jacobperron

launch_ros/launch_ros/actions/node.py

@@ -244,7 +244,7 @@ def parse(cls, entity: Entity, parser: Parser):
         ns = entity.get_attr('namespace', optional=True)
         if ns is not None:
             kwargs['node_namespace'] = parser.parse_substitution(ns)
-        remappings = entity.get_attr('remap', optional=True)
+        remappings = entity.get_attr('remap', data_type=List[Entity], optional=True)
         if remappings is not None:
             kwargs['remappings'] = [
                 (

test_launch_ros/test/test_launch_ros/frontend/test_node_frontend.py

@@ -56,6 +56,8 @@
             </param>
             <param from="{}"/>
             <env name="var" value="1"/>
+            <remap from="foo" to="bar"/>
+            <remap from="baz" to="foobar"/>
         </node>
         <node exec="{}" args="-c 'import sys; print(sys.argv[1:])'" node-name="my_listener" namespace="my_ns" output="screen"/>
     </launch>
@@ -110,6 +112,11 @@
             env:
                 -   name: var
                     value: '1'
+            remap:
+                -   from: "foo"
+                    to: "bar"
+                -   from: "baz"
+                    to: "foobar"
         - node:
             exec: {}
             output: screen
@@ -162,6 +169,11 @@ def test_node_frontend(file):
     assert param_dict['param_group1.param11'] == ('asd', 'bsd', 'csd')
     assert param_dict['param_group1.param12'] == ''
 
+    # Check remappings exist
+    remappings = ld.describe_sub_entities()[2]._Node__remappings
+    assert remappings is not None
+    assert len(remappings) == 2
+
     listener_node_action = ld.describe_sub_entities()[3]
     listener_node_cmd = listener_node_action.process_details['cmd']
     assert [