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Append ros namespace to target container if available. #429

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Append ros namespace to target container if available. #429

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mbharatheesha
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@mbharatheesha mbharatheesha commented Dec 13, 2024 •
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This PR introduces a change to fix #428.

With this change, when a composable node is loaded into a target container that is running under a ros_namespace set using <push_ros_namespace>, the target container name gets prefixed with ros_namespace using the LaunchContext. This enables the composable nodes to load into a namespaced target container.

How did I test this:

  • apt install ros-rolling-image-tools
  • Create a python launch file
from launch import LaunchDescription
from launch_ros.actions import LoadComposableNodes, Node, PushROSNamespace
from launch_ros.descriptions import ComposableNode

def generate_launch_description():

    set_ns = PushROSNamespace("test_ns")
    container = Node(
        name='image_container',
        package='rclcpp_components',
        executable='component_container',
        output='both',
    )

    load_composable_nodes = LoadComposableNodes(
        target_container='image_container',
        composable_node_descriptions=[
            ComposableNode(
                package='image_tools',
                plugin='image_tools::Cam2Image',
                name='cam2image',
                remappings=[('/image', '/burgerimage')],
                parameters=[{'width': 320, 'height': 240, 'burger_mode': True, 'history': 'keep_last'}],
                extra_arguments=[{'use_intra_process_comms': True}],
            ),
            ComposableNode(
                package='image_tools',
                plugin='image_tools::ShowImage',
                name='showimage',
                remappings=[('/image', '/burgerimage')],
                parameters=[{'history': 'keep_last'}],
                extra_arguments=[{'use_intra_process_comms': True}]
            ),
        ],
    )

    return LaunchDescription([set_ns, container, load_composable_nodes])
  • Confirm that the composable nodes are loaded into the namespaced target container:
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/test_ns/cam2image' in container '/test_ns/image_container'
[component_container-1] [INFO] [1734128809.737064712] [test_ns.image_container]: Found class: rclcpp_components::NodeFactoryTemplate<image_tools::Cam2Image>
[component_container-1] [INFO] [1734128809.737089661] [test_ns.image_container]: Found class: rclcpp_components::NodeFactoryTemplate<image_tools::ShowImage>
[component_container-1] [INFO] [1734128809.737094571] [test_ns.image_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<image_tools::ShowImage>
[component_container-1] [INFO] [1734128809.742501542] [test_ns.showimage]: Subscribing to topic 'image'
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/test_ns/showimage' in container '/test_ns/image_container'
[component_container-1] [INFO] [1734128809.768871705] [test_ns.cam2image]: Publishing image #1
[component_container-1] [INFO] [1734128809.769063393] [test_ns.showimage]: Received image #camera_frame
  • Create an xml launch file
<launch>
    <group>
        <push_ros_namespace namespace="test_ns"/>

        <node_container pkg="rclcpp_components" exec="component_container" name="container" namespace=""/>
            <load_composable_node target="container">
                <composable_node name="cam2image" pkg="image_tools" plugin="image_tools::Cam2Image">
                    <remap from="image" to="burger_image" />
                    <param name="width" value="320" />
                    <param name="height" value="240" />
                    <param name="burger_mode" value="True" />
                    <param name="history" value="keep_last" />
                </composable_node>
                <composable_node name="showimage" pkg="image_tools" plugin="image_tools::ShowImage">
                    <remap from="image" to="burger_image" />
                    <param name="history" value="keep_last" />
                </composable_node>
            </load_composable_node>
    </group>
</launch>
  • Confirm that the composable nodes are loaded into the namespaced target container:
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/test_ns/cam2image' in container '/test_ns/container'
[component_container-1] [INFO] [1734130914.070237617] [test_ns.container]: Found class: rclcpp_components::NodeFactoryTemplate<image_tools::Cam2Image>
[component_container-1] [INFO] [1734130914.070265706] [test_ns.container]: Found class: rclcpp_components::NodeFactoryTemplate<image_tools::ShowImage>
[component_container-1] [INFO] [1734130914.070270385] [test_ns.container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<image_tools::ShowImage>
[component_container-1] [INFO] [1734130914.073884311] [test_ns.showimage]: Subscribing to topic 'image'
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/test_ns/showimage' in container '/test_ns/container'
[component_container-1] [INFO] [1734130914.101434113] [test_ns.cam2image]: Publishing image #1
[component_container-1] [INFO] [1734130914.102238122] [test_ns.showimage]: Received image #camera_frame
  • ros2 node list
/launch_ros_780940
/test_ns/cam2image
/test_ns/container
/test_ns/showimage

Without the changes in this PR, the output from the launch would be:

[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [779037]

And the composable nodes wouldn't show up with ros2 node list

/launch_ros_779454
/test_ns/container

@mbharatheesha mbharatheesha mentioned this pull request Dec 13, 2024
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@mbharatheesha mbharatheesha force-pushed the append-ns-to-target-container branch from ae1920c to f5671d3 Compare December 13, 2024 22:59
@mbharatheesha
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@ahcorde @sloretz A friendly ping on this.

fujitatomoya
fujitatomoya reviewed Jan 3, 2025
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launch_ros/launch_ros/actions/load_composable_nodes.py
# Check if a global ros_namespace has been set with push ros namespace.
base_ns = context.launch_configurations.get('ros_namespace', None)
if base_ns is not None:
self.__final_target_container_name = make_namespace_absolute(
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this will be applied to the service client to load the composable nodes below.
without having this fix, service path is not appended with namespace, that fails to call the load request for target container.

fujitatomoya
fujitatomoya reviewed Jan 3, 2025
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i think this is correct fix, i will start the CI.

CC: @sloretz @ahcorde

@fujitatomoya
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Pulls: #429
Gist: https://gist.githubusercontent.com/fujitatomoya/c181a9c225d235c70f1dc8fc33c7e8c5/raw/c90c650b79c5dd5c861551173a24442c69d68d04/ros2.repos
BUILD args: --packages-above-and-dependencies launch_ros
TEST args: --packages-above launch_ros
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/15028

  • Linux Build Status
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@fujitatomoya fujitatomoya fujitatomoya left review comments

@ahcorde ahcorde Awaiting requested review from ahcorde

@sloretz sloretz Awaiting requested review from sloretz

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Namespace doesn't get applied to target container when using load_composable_node tag
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@mbharatheesha @fujitatomoya