Enable --no-daemon flag for some cli tools (#514)

Fixes #511

Signed-off-by: Dereck Wonnacott <[email protected]>

Author: dawonn-haval

ros2topic/ros2topic/verb/echo.py

@@ -23,6 +23,7 @@
 from rclpy.qos_event import SubscriptionEventCallbacks
 from rclpy.qos_event import UnsupportedEventTypeError
 from rclpy.utilities import get_rmw_implementation_identifier
+from ros2cli.node.strategy import add_arguments as add_strategy_node_arguments
 from ros2cli.node.strategy import NodeStrategy
 from ros2topic.api import add_qos_arguments_to_argument_parser
 from ros2topic.api import get_msg_class
@@ -42,6 +43,8 @@ class EchoVerb(VerbExtension):
     """Output messages from a topic."""
 
     def add_arguments(self, parser, cli_name):
+        add_strategy_node_arguments(parser)
+
         arg = parser.add_argument(
             'topic_name',
             help="Name of the ROS topic to listen to (e.g. '/chatter')")
@@ -88,12 +91,14 @@ def main(args):
         depth=args.qos_depth, history=args.qos_history)
     with NodeStrategy(args) as node:
         if args.message_type is None:
-            message_type = get_msg_class(node, args.topic_name, include_hidden_topics=True)
+            message_type = get_msg_class(
+                node, args.topic_name, include_hidden_topics=True)
         else:
             message_type = get_message(args.message_type)
 
         if message_type is None:
-            raise RuntimeError('Could not determine the type for the passed topic')
+            raise RuntimeError(
+                'Could not determine the type for the passed topic')
 
         subscriber(
             node, args.topic_name, message_type, callback, qos_profile, args.lost_messages)
@@ -110,7 +115,8 @@ def subscriber(
     """Initialize a node with a single subscription and spin."""
     event_callbacks = None
     if report_lost_messages:
-        event_callbacks = SubscriptionEventCallbacks(message_lost=message_lost_event_callback)
+        event_callbacks = SubscriptionEventCallbacks(
+            message_lost=message_lost_event_callback)
     try:
         node.create_subscription(
             message_type, topic_name, callback, qos_profile, event_callbacks=event_callbacks)
@@ -136,7 +142,8 @@ def cb(msg):
 def subscriber_cb_csv(truncate_length, noarr, nostr):
     def cb(msg):
         nonlocal truncate_length, noarr, nostr
-        print(message_to_csv(msg, truncate_length=truncate_length, no_arr=noarr, no_str=nostr))
+        print(message_to_csv(msg, truncate_length=truncate_length,
+                             no_arr=noarr, no_str=nostr))
     return cb
 
 

ros2topic/ros2topic/verb/find.py

@@ -12,6 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from ros2cli.node.strategy import add_arguments as add_strategy_node_arguments
 from ros2cli.node.strategy import NodeStrategy
 
 from ros2topic.api import get_topic_names_and_types
@@ -23,6 +24,8 @@ class FindVerb(VerbExtension):
     """Output a list of available topics of a given type."""
 
     def add_arguments(self, parser, cli_name):
+        add_strategy_node_arguments(parser)
+
         arg = parser.add_argument(
             'topic_type',
             help="Name of the ROS topic type to filter for (e.g. 'std_msg/msg/String')")

ros2topic/ros2topic/verb/info.py

@@ -12,8 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from ros2cli.node.strategy import add_arguments as add_strategy_node_arguments
 from ros2cli.node.strategy import NodeStrategy
-
 from ros2topic.api import get_topic_names_and_types
 from ros2topic.api import TopicNameCompleter
 from ros2topic.verb import VerbExtension
@@ -23,6 +23,7 @@ class InfoVerb(VerbExtension):
     """Print information about a topic."""
 
     def add_arguments(self, parser, cli_name):
+        add_strategy_node_arguments(parser)
         arg = parser.add_argument(
             'topic_name',
             help="Name of the ROS topic to get info (e.g. '/chatter')")
@@ -54,15 +55,17 @@ def main(self, *, args):
             type_str = topic_types[0] if len(topic_types) == 1 else topic_types
             print('Type: %s' % type_str, end=line_end)
 
-            print('Publisher count: %d' % node.count_publishers(topic_name), end=line_end)
+            print('Publisher count: %d' %
+                  node.count_publishers(topic_name), end=line_end)
             if args.verbose:
                 try:
                     for info in node.get_publishers_info_by_topic(topic_name):
                         print(info, end=line_end)
                 except NotImplementedError as e:
                     return str(e)
 
-            print('Subscription count: %d' % node.count_subscribers(topic_name), end=line_end)
+            print('Subscription count: %d' %
+                  node.count_subscribers(topic_name), end=line_end)
             if args.verbose:
                 try:
                     for info in node.get_subscriptions_info_by_topic(topic_name):

ros2topic/ros2topic/verb/list.py

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ros2cli.node.strategy import add_arguments
+from ros2cli.node.strategy import add_arguments as add_strategy_node_arguments
 from ros2cli.node.strategy import NodeStrategy
 from ros2topic.api import get_topic_names_and_types
 from ros2topic.verb import VerbExtension
@@ -22,7 +22,8 @@ class ListVerb(VerbExtension):
     """Output a list of available topics."""
 
     def add_arguments(self, parser, cli_name):
-        add_arguments(parser)
+        add_strategy_node_arguments(parser)
+
         parser.add_argument(
             '-t', '--show-types', action='store_true',
             help='Additionally show the topic type')

ros2topic/ros2topic/verb/type.py

@@ -12,6 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from ros2cli.node.strategy import add_arguments as add_strategy_node_arguments
 from ros2cli.node.strategy import NodeStrategy
 
 from ros2topic.api import get_topic_names_and_types
@@ -23,6 +24,8 @@ class TypeVerb(VerbExtension):
     """Print a topic's type."""
 
     def add_arguments(self, parser, cli_name):
+        add_strategy_node_arguments(parser)
+
         arg = parser.add_argument(
             'topic_name',
             help="Name of the ROS topic to get type (e.g. '/chatter')")