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Let XML executables/nodes be "required" (like in ROS 1) (#751) #764

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merged 1 commit into from
Mar 20, 2024
Merged

Let XML executables/nodes be "required" (like in ROS 1) (#751) #764

merged 1 commit into from
Mar 20, 2024

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Timple
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@Timple Timple commented Mar 5, 2024

Backport of #751 for ROS iron

Thanks @m-elwin for the works!

@m-elwin @Timple
Let XML executables/nodes be "required" (like in ROS 1) (ros2#751)
e8714b9 
* Let XML nodes be "required"

Essentially on_exit="shutdown" is equivalent to ROS 1 required="true".

This feature is implemented using the python launchfile on_exit mechanism.

Right now "shutdown" is the only action accepted by on_exit,
but theoretically more "on_exit" actions could be added later.

Example:
<executable cmd="ls" on_exit="shutdown"/>

* Added tests for yaml

Signed-off-by: Matthew Elwin <[email protected]>
Signed-off-by: Tim Clephas <[email protected]>
@fujitatomoya
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@mjcarroll can you review this and run CI?

@mjcarroll mjcarroll self-assigned this Mar 14, 2024
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mjcarroll approved these changes Mar 14, 2024
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LGTM with Green CI

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mjcarroll commented Mar 14, 2024 •
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CI running against iron

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Windows Build Status

@Timple
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Timple commented Mar 15, 2024

Flake8 complains: ./launch/launch_context.py:24:1: F401 'typing.Mapping' imported but unused.
But it's not part of this PR. Would you like me to fix it, or is this out of scope?

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Would you like me to fix it, or is this out of scope?

Let's go ahead and fix it here so we can keep CI green.

@Timple
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Timple commented Mar 18, 2024

Now the tests are stating:

/launch/launch_context.py:66:40: F821 undefined name 'Mapping'

Which I removed because 'Mapping' was indicated as unused import.
I hope this can be considered out of scope for this PR as I don't have an idea how to solve this 🙁 Locally all tests are happy.

@Timple Timple force-pushed the xml-shutdown-iron branch from c62de66 to e8714b9 Compare March 18, 2024 20:01
@mjcarroll mjcarroll merged commit adef012 into ros2:iron Mar 20, 2024
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@Timple
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Timple commented Apr 4, 2024

@Yadunund since you did the last release, do you know what the policy is for getting a new release on iron? 🙂

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Yadunund commented Apr 4, 2024

Version bumps to core packages (including launch) would be part of a patch release and I was aiming to do the next one around 19th April.

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Timple commented Apr 4, 2024

Cool 😎

jplapp pushed a commit to pixel-robotics/launch that referenced this pull request May 11, 2024
@Timple @m-elwin @jplapp
Backport Iron: Let XML executables/nodes be "required" (like in ROS 1) (
f35b1d3 
ros2#764)

Backport ros2#751 for Iron

Essentially on_exit="shutdown" is equivalent to ROS 1 required="true".

This feature is implemented using the python launchfile on_exit mechanism.

Right now "shutdown" is the only action accepted by on_exit,
but theoretically more "on_exit" actions could be added later.

Example:
<executable cmd="ls" on_exit="shutdown"/>

* Added tests for yaml

Signed-off-by: Matthew Elwin <[email protected]>
Signed-off-by: Tim Clephas <[email protected]>
Co-authored-by: Matthew Elwin <[email protected]>
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@mjcarroll mjcarroll mjcarroll approved these changes

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@Timple @fujitatomoya @mjcarroll @Yadunund @m-elwin