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feat(include_launch_description): only check required arguments in the local launch file #746

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feat(include_launch_description): only check required arguments in the local launch file #746

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578ee0b
only check arguments with the first inclusion
Dec 4, 2023
8963283
fix line too long CI
Dec 4, 2023
c4c359c
skip include checking
Dec 12, 2023
825596e
only search local argument
Dec 12, 2023
bd8b70a
fix CI
Dec 12, 2023
aaecb95
fix indention CI
Dec 12, 2023
767504c
fix bugs in looping inside
Dec 12, 2023
2cd6fa7
Merge branch 'rolling' into feat/argument_check_skipping
HinsRyu Apr 2, 2024
2b1565d
Merge branch 'ros2:rolling' into feat/argument_check_skipping
Owen-Liuyuxuan Oct 1, 2024
8c44ab2
Merge branch 'ros2:rolling' into feat/argument_check_skipping
Owen-Liuyuxuan Nov 20, 2024
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8 changes: 6 additions & 2 deletions launch/launch/actions/include_launch_description.py
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Original file line number Diff line number Diff line change
Expand Up @@ -161,14 +161,18 @@ def execute(self, context: LaunchContext) -> List[LaunchDescriptionEntity]:
for arg_name, arg_value in self.launch_arguments
]
declared_launch_arguments = (
launch_description.get_launch_arguments_with_include_launch_description_actions())
launch_description.get_launch_arguments_with_include_launch_description_actions(
only_search_local=True)
)
for argument, ild_actions in declared_launch_arguments:
if argument._conditionally_included or argument.default_value is not None:
continue
argument_names = my_argument_names
if ild_actions is not None:
for ild_action in ild_actions:
argument_names.extend(ild_action._try_get_arguments_names_without_context())
argument_names.extend(
ild_action._try_get_arguments_names_without_context()
)
if argument.name not in argument_names:
raise RuntimeError(
"Included launch description missing required argument '{}' "
Expand Down
17 changes: 12 additions & 5 deletions launch/launch/launch_description.py
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Original file line number Diff line number Diff line change
Expand Up @@ -91,7 +91,7 @@ def get_launch_arguments(self, conditional_inclusion=False) -> List[DeclareLaunc
]

def get_launch_arguments_with_include_launch_description_actions(
self, conditional_inclusion=False
self, conditional_inclusion=False, only_search_local=False
) -> List[Tuple[DeclareLaunchArgument, List['IncludeLaunchDescription']]]:
"""
Return a list of launch arguments with its associated include launch descriptions actions.
Expand Down Expand Up @@ -128,7 +128,8 @@ def get_launch_arguments_with_include_launch_description_actions(
Tuple[DeclareLaunchArgument, List[IncludeLaunchDescription]]] = []
from .actions import ResetLaunchConfigurations

def process_entities(entities, *, _conditional_inclusion, nested_ild_actions=None):
def process_entities(entities, *, _conditional_inclusion, nested_ild_actions=None,
only_search_local=False):
for entity in entities:
if isinstance(entity, DeclareLaunchArgument):
# Avoid duplicate entries with the same name.
Expand All @@ -139,6 +140,9 @@ def process_entities(entities, *, _conditional_inclusion, nested_ild_actions=Non
entity._conditionally_included = _conditional_inclusion
entity._conditionally_included |= entity.condition is not None
declared_launch_arguments.append((entity, nested_ild_actions))
if only_search_local:
if isinstance(entity, IncludeLaunchDescription):
continue
if isinstance(entity, ResetLaunchConfigurations):
# Launch arguments after this cannot be set directly by top level arguments
return
Expand All @@ -151,14 +155,17 @@ def process_entities(entities, *, _conditional_inclusion, nested_ild_actions=Non
process_entities(
entity.describe_sub_entities(),
_conditional_inclusion=False,
nested_ild_actions=next_nested_ild_actions)
nested_ild_actions=next_nested_ild_actions,
only_search_local=only_search_local)
for conditional_sub_entity in entity.describe_conditional_sub_entities():
process_entities(
conditional_sub_entity[1],
_conditional_inclusion=True,
nested_ild_actions=next_nested_ild_actions)
nested_ild_actions=next_nested_ild_actions,
only_search_local=only_search_local)

process_entities(self.entities, _conditional_inclusion=conditional_inclusion)
process_entities(self.entities, _conditional_inclusion=conditional_inclusion,
only_search_local=only_search_local)

return declared_launch_arguments

Expand Down