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Remapping action names does not work #1312

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Bjoernolav opened this issue Aug 11, 2022 · 3 comments · May be fixed by ros2/rcl#1170
Open

Remapping action names does not work #1312

Bjoernolav opened this issue Aug 11, 2022 · 3 comments · May be fixed by ros2/rcl#1170
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backlog help wanted Extra attention is needed

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@Bjoernolav
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Bjoernolav commented Aug 11, 2022 •
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Bug report

Required Info:

  • Operating System:
    • Ubuntu 22.04
  • Installation type:
    • Docker container based on ros:humble

Steps to reproduce issue

Run the following launch file to launch the fibonacci action server from action_tutorials_py with remapping of the action name:

from launch import LaunchDescription
from launch_ros.actions import Node


def generate_launch_description():
    node = Node(
        package='action_tutorials_py',
        executable='fibonacci_action_server',
        remappings=[
            ('fibonacci', '/remapped_fibonacci'),
            ('~/list_parameters', '/fibonacci_list_parameters'),
        ]
    )
    return LaunchDescription([
        node
    ])

Expected behavior

Launching the fibonnaci_action_server node running with the /remapped_fibonacci action server, and also exposing the /fibonacci_list_parameters service instead of the /fibonacci_action_server/fibonacci_list_parameters service.

Actual behavior

The service is remapped correctly, but the action is not.

Output from ros2 action list

➜  zb_ws ros2 action list
/fibonacci

Output from ros2 service list

➜  zb_ws ros2 service list
/fibonacci_action_server/describe_parameters
/fibonacci_action_server/get_parameter_types
/fibonacci_action_server/get_parameters
/fibonacci_action_server/set_parameters
/fibonacci_action_server/set_parameters_atomically
/fibonacci_list_parameters
@clalancette
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Yeah, this is a feature for actions that we never implemented. It is probably possible to implement it relatively straightforwardly in https://github.com/ros2/rcl/tree/rolling/rcl_action , but it just isn't done so currently.

There is a workaround that can be used, which is to remap all of the topics and services that are associated with an action. For the fibonacci example, that would look something like:

ros2 run action_tutorials_py fibonacci_action_server --ros-args -r /fibonacci/_action/feedback:=/myout/_action/feedback -r /fibonacci/_action/status:=/myout/_action/status -r /fibonacci/_action/cancel_goal:=/myout/_action/cancel_goal -r /fibonacci/_action/get_result:=/myout/_action/get_result -r /fibonacci/_action/send_goal:=/myout/_action/send_goal

And for the client:

ros2 run action_tutorials_py fibonacci_action_client  --ros-args -r /fibonacci/_action/feedback:=/myout/_action/feedback -r /fibonacci/_action/status:=/myout/_action/status -r /fibonacci/_action/cancel_goal:=/myout/_action/cancel_goal -r /fibonacci/_action/get_result:=/myout/_action/get_result -r /fibonacci/_action/send_goal:=/myout/_action/send_goal

I don't know if we are going to have time to look at this soon, but we'll keep it on the list to eventually fix.

@dhood
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dhood commented Sep 4, 2023

I can confirm that remapping the topics as you suggested @clalancette does the job.

This caught me by surprise, though - I wasn't expecting this feature to be missing, so I was troubleshooting locally for a bit. I'm sure it's documented somewhere though in the release notes :-) just fyi

This would probably be a good issue for a new contributor to work on, do you think? Perhaps "just" a call to rcl_resolve_name is missing?

In the meantime here's a launch example for someone else who comes across this:

    my_node = Node(
        package='my_package',
        executable='my_node.py',
        remappings=[
            ('/fibonacci/_action/feedback', '/myout/_action/feedback'),
            ('/fibonacci/_action/status', '/myout/_action/status'),
            ('/fibonacci/_action/cancel_goal', '/myout/_action/cancel_goal'),
            ('/fibonacci/_action/get_result', '/myout/_action/get_result'),
            ('/fibonacci/_action/send_goal', '/myout/_action/send_goal'),
        ],
    )

@clalancette clalancette added the help wanted Extra attention is needed label Sep 5, 2023
This was referenced Mar 13, 2024
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@Ryanf55
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Ryanf55 commented Apr 1, 2024

Same for XML:

<?xml version="1.0"?>
<launch>
  <node pkg="action_tutorials_cpp" exec="fibonacci_action_server" namespace="action_tutorials_cpp">
    <remap from="/action_tutorials_cpp/fibonacci" to="/foobar"/>
  </node>
</launch>

@JustusBraun JustusBraun linked a pull request Jul 16, 2024 that will close this issue
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Added remapping resolution for action names JustusBraun/rcl
4 participants
@clalancette @dhood @Bjoernolav @Ryanf55