Fix RosSystem launch file generator issues

plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/GeneratorHelpers.xtend

@@ -28,18 +28,36 @@ class GeneratorHelpers {
     String Pkg
     RosNode node
     String[] FromFileInfo
+    Boolean os_import
 
 
     def void init_pkg(){
         PackageSet=false
     }
+
+    def boolean YamlFileGenerated(System rossystem) {
+        os_import=false
+        for (component: getRos2Nodes(rossystem)){
+            for(param:component.rosparameters){
+                if(param.eContents.get(0).eClass.name.contains("ParameterStruct")){
+                    os_import=true
+                }
+            }
+            if(component.rosparameters.length>5){
+                os_import=true
+            }
+        }
+        return os_import
+    }
 
-    def <Components> getNodes (System rossystem) {
+    def <Components> getRos2Nodes (System rossystem) {
         val nodeList = new ArrayList<RosNode>
         if (!rossystem.components.nullOrEmpty){
             for (component: rossystem.components) {
                 if (component.class.toString.contains("RosNode")){
-                    nodeList.add(component as RosNode)
+                    if((component as RosNode).from.eContainer.eContainer.class.toString.contains("Ament")){
+                        nodeList.add(component as RosNode)
+                    }
                 }
         }}
         return nodeList
@@ -57,7 +75,7 @@ class GeneratorHelpers {
 
     def  ArrayList<String> getAllRepos(System system) {
         RepoList = new ArrayList<String>()
-        for (node : getNodes(system)){
+        for (node : getRos2Nodes(system)){
             if (!((node.from.eContainer.eContainer as Package).fromGitRepo.nullOrEmpty)) {
                 val repo=(node.from.eContainer.eContainer as Package).fromGitRepo
                 if (repo.contains(":")){
@@ -80,7 +98,7 @@ class GeneratorHelpers {
     def <String> getPkgsDependencies (System rossystem){
         PkgsList = new ArrayList()
         if (rossystem.fromFile.isNullOrEmpty) {
-            for (component: getNodes(rossystem)){
+            for (component: getRos2Nodes(rossystem)){
                 init_pkg()
                 node = component as RosNode
                 Pkg = node.compile_pkg.toString()

plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/LaunchFileCompiler_ROS2.xtend

@@ -30,6 +30,7 @@ class LaunchFileCompiler_ROS2 {
 
 
     def compile_toROS2launch(System system) '''
+«IF YamlFileGenerated(system)»import os«ENDIF»
 from launch import LaunchDescription
 from launch_ros.actions import Node
 «IF !getSubsystems(system).empty»from ament_index_python.packages import get_package_share_directory«ENDIF»
@@ -40,7 +41,7 @@ from launch.substitutions import LaunchConfiguration, PythonExpression, PathJoin
 def generate_launch_description():
     ld = LaunchDescription()
 
-    «FOR component:getNodes(system)»«IF generate_yaml(component)»
+    «FOR component:getRos2Nodes(system)»«IF generate_yaml(component)»
         «component.name»_config = os.path.join(
             get_package_share_directory('«system.getName().toLowerCase»'),
             'config',
@@ -56,18 +57,17 @@ def generate_launch_description():
     «ENDIF»
     «ENDFOR»
 
-    «FOR component:getNodes(system)»
+    «FOR component:getRos2Nodes(system)»
     «(component as RosNode).name» = Node(
         package="«((component as RosNode).from.eContainer.eContainer as AmentPackageImpl).name»",«IF !component.namespace.nullOrEmpty»
         namespace="«component.namespace»",«ENDIF»
         executable="«((component as RosNode).from.eContainer as Artifact).name»",
         prefix = 'xterm -e',
         output='screen',
         name="«(component as RosNode).name»"«compile_remappings_str(component as RosNode, system.connections)»«IF !component.rosparameters.nullOrEmpty»,
-        «IF generate_yaml(component)»
-         parameters = [«component.name»_config]
-        «ELSE»parameters=[{«FOR param:component.rosparameters»
-            "«param.from.name»": LaunchConfiguration("«param.name»"),«ENDFOR»}]«ENDIF»«ENDIF»
+«IF generate_yaml(component)»        parameters = [«component.name»_config]
+«ELSE»        parameters=[{«FOR param:component.rosparameters»
+          "«param.from.name»": LaunchConfiguration("«param.name»"),«ENDFOR»}]«ENDIF»«ENDIF»
     )
     «ENDFOR»
     «FOR subsystem:getSubsystems(system)»
@@ -82,7 +82,7 @@ def generate_launch_description():
     «ENDIF»
     «ENDFOR»
 
-    «FOR component:getNodes(system)»
+    «FOR component:getRos2Nodes(system)»
     ld.add_action(«(component as RosNode).name»)
     «ENDFOR»«FOR subsystem:getSubsystems(system)»
     ld.add_action(include_«subsystem.name»)
@@ -156,7 +156,15 @@ def generate_launch_description():
         var to_action = new Object
 
         var rename = ""
-
+        
+        for (interface : node.rosinterfaces){
+            var origin = interface.reference.eCrossReferences.toString
+            var origin_name = origin.substring(origin.indexOf("name: ") + 6, origin.lastIndexOf(")]"))
+            if (interface.name !== origin_name){
+                remap_str += "\t(\"" + origin_name + "\", \"" + interface.name + "\"),\n";
+            }
+        }
+        
         for (connection : connections){
             var rosconnection = connection as RosSystemConnectionImpl
             if (rosconnection.from.reference.eClass.toString.contains("RosPublisherReference")){

plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/PlantUMLCompiler.xtend

@@ -17,12 +17,12 @@ class PlantUMLCompiler{
 /'SUBSYSTEMS'/
 «FOR subsystem:system.subsystems»
 component «subsystem.name» {
-«FOR component:getNodes(subsystem)»
+«FOR component:getRos2Nodes(subsystem)»
 «compile_ports(component)»
 «ENDFOR» }
 «ENDFOR»
 
-«FOR component:getNodes(system)»
+«FOR component:getRos2Nodes(system)»
 «compile_ports(component)»
 «ENDFOR»
 «FOR connection:system.connections»  «get_connection_port((connection as RosSystemConnectionImpl).from)» --> «get_connection_port((connection as RosSystemConnectionImpl).to)»

plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/READMECompiler.xtend

@@ -22,19 +22,19 @@ This package has be created automatically using the [RosTooling](https://github.
 
 
 It holds the launch file to run the following nodes:
-«FOR node:getNodes(system)»
+«FOR node:getRos2Nodes(system)»
 - «(node as RosNode).name»
 «ENDFOR»
 «FOR subsystem:system.subsystems»
-«FOR node:getNodes(subsystem)»
+«FOR node:getRos2Nodes(subsystem)»
 - «(node as RosNode).name»
 «ENDFOR»
 «ENDFOR»
 
 «IF(!IsInterfacesEmpty(system))»The listed nodes offer the following connections:
-«FOR node:getNodes(system)»«FOR port:(node as RosNode).rosinterfaces»
+«FOR node:getRos2Nodes(system)»«FOR port:(node as RosNode).rosinterfaces»
 «getPortInfo(port)»
-«ENDFOR»«ENDFOR»«FOR subsystem:system.subsystems»«FOR node:getNodes(subsystem)»«FOR port:(node as RosNode).rosinterfaces»
+«ENDFOR»«ENDFOR»«FOR subsystem:system.subsystems»«FOR node:getRos2Nodes(subsystem)»«FOR port:(node as RosNode).rosinterfaces»
 «getPortInfo(port)»
 «ENDFOR»«ENDFOR»«ENDFOR»«ENDIF»
 
@@ -106,13 +106,13 @@ ros2 launch «system.fromFile.split("/",2).get(0)» «system.fromFile.substring(
      '''
 
      def IsInterfacesEmpty(System system){
-         for(node: getNodes(system)){
+         for(node: getRos2Nodes(system)){
              if (!(node as RosNode).rosinterfaces.empty){
                 return false
              }
          }
          for (subsystem: system.subsystems){
-           for(node: getNodes(subsystem)){
+           for(node: getRos2Nodes(subsystem)){
              if (!(node as RosNode).rosinterfaces.empty){
                 return false
              }