fixed launch daemon in ros2

fkie · Sep 13, 2023 · 010210e · 010210e
1 parent 5ce44f8
commit 010210e
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Showing 4 changed files with 17 additions and 16 deletions.
diff --git a/fkie_master_discovery/CMakeLists.txt b/fkie_master_discovery/CMakeLists.txt
@@ -39,9 +39,7 @@ if ( ament_cmake_FOUND )
     # find dependencies
     find_package(rclcpp REQUIRED)
     find_package(rclcpp_lifecycle REQUIRED)
-    find_package(rmw_dds_common REQUIRED)
     find_package(rmw_fastrtps_cpp REQUIRED)
-    find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
     find_package(rmw_fastrtps_shared_cpp REQUIRED)
     find_package(lifecycle_msgs REQUIRED)
 

diff --git a/fkie_node_manager_daemon/fkie_node_manager_daemon/launch_config.py b/fkie_node_manager_daemon/fkie_node_manager_daemon/launch_config.py
@@ -184,6 +184,8 @@ def _get_node_executable(self):
 
     def _get_launch_prefix(self) -> Union[str, None]:
         prefix = getattr(self._entity, 'prefix', None)
+        if not prefix:
+            prefix = getattr(self._entity, 'launch-prefix', None)
         if prefix:
             prefix = launch.utilities.perform_substitutions(
                 self._launch_context, self._entity.prefix)

diff --git a/fkie_node_manager_daemon/fkie_node_manager_daemon/launch_servicer.py b/fkie_node_manager_daemon/fkie_node_manager_daemon/launch_servicer.py
@@ -141,8 +141,6 @@ def __init__(self, loop: asyncio.AbstractEventLoop, realm: str = 'ros', port: in
         Log.info("Create ROS2 launch servicer")
         CrossbarBaseSession.__init__(self, loop, realm, port)
         LoggingEventHandler.__init__(self)
-        if not hasattr(self, realm):
-            self.realm = realm
         self._watchdog_observer = Observer()
         self.__launch_context = LaunchContext(argv=sys.argv[1:])
         self.__launch_context._set_asyncio_loop(asyncio.get_event_loop())

diff --git a/fkie_node_manager_daemon/fkie_node_manager_daemon/rosstate_servicer.py b/fkie_node_manager_daemon/fkie_node_manager_daemon/rosstate_servicer.py
@@ -441,19 +441,22 @@ def _get_topic_from(topic_name, topic_type):
                     ros_node, isnew = _get_node_from(
                         sub_info.node_namespace, sub_info.node_name, n_guid)
                     for topic_type in topic_types:
-                        tp, istopic = _get_topic_from(topic_name, topic_type)
-                        # add tp.qos_profil
-                        if istopic:
-                            Log.debug(
-                                f"{self.__class__.__name__}:      add subscriber {n_guid} {sub_info.node_namespace}/{sub_info.node_name}")
-                            tp.subscriber.append(n_guid)
-                            ros_node.subscribers.append(tp)
-                        else:
-                            if n_guid not in tp.provider:
+                        try:
+                            tp, istopic = _get_topic_from(topic_name, topic_type)
+                            # add tp.qos_profil
+                            if istopic:
                                 Log.debug(
-                                    f"{self.__class__.__name__}:      add provider {n_guid} {sub_info.node_namespace}/{sub_info.node_name}")
-                                tp.provider.append(n_guid)
-                            ros_node.services.append(tp)
+                                    f"{self.__class__.__name__}:      add subscriber {n_guid} {sub_info.node_namespace}/{sub_info.node_name}")
+                                tp.subscriber.append(n_guid)
+                                ros_node.subscribers.append(tp)
+                            else:
+                                if n_guid not in tp.provider:
+                                    Log.debug(
+                                        f"{self.__class__.__name__}:      add provider {n_guid} {sub_info.node_namespace}/{sub_info.node_name}")
+                                    tp.provider.append(n_guid)
+                                ros_node.services.append(tp)
+                        except Exception as err:
+                            print(err)
                     if isnew:
                         result.append(ros_node)
         return result