Merge branch 'kinetic-devel' into node-name

PR2 · Jul 29, 2022 · 53995f0 · 53995f0
2 parents 356ff69 + 7b780db
commit 53995f0
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Showing 3 changed files with 28 additions and 10 deletions.
diff --git a/launch/app_manager.launch b/launch/app_manager.launch
@@ -24,6 +24,12 @@
   <!-- respawn -->
   <arg name="respawn" default="false" doc="respawn app_manager"/>
 
+  <!-- app_manager options -->
+  <arg name="enable_app_replacement" default="true"
+       doc="Enable app replacement by running another app, or not" />
+  <arg name="enable_topic_remapping" default="true"
+       doc="Enable name remapping of topic written in interface to app_manager namespace , or not" />
+
   <!-- internal use -->
   <arg name="applist_args" default="--applist $(arg applist)" if="$(arg use_applist)"/>
   <arg name="applist_args" default=""                     unless="$(arg use_applist)"/>
@@ -41,8 +47,12 @@
   <node pkg="app_manager" type="app_manager" name="$(arg manager_node_name)"
         args="$(arg applist_args) $(arg robot_name_args) $(arg robot_type_args)"
         output="screen" respawn="$(arg respawn)">
-    <param name="interface_master" value="http://$(arg master_address):$(arg master_port)"/>
-    <param name="sigint_timeout" value="$(arg sigint_timeout)"/>
-    <param name="sigterm_timeout" value="$(arg sigterm_timeout)"/>
+    <rosparam subst_value="true">
+      interface_master: http://$(arg master_address):$(arg master_port)
+      enable_app_replacement: $(arg enable_app_replacement)
+      enable_topic_remapping: $(arg enable_topic_remapping)
+      sigint_timeout: $(arg sigint_timeout)
+      sigterm_timeout: $(arg sigterm_timeout)
+    </rosparam>
   </node>
 </launch>
diff --git a/scripts/app_manager b/scripts/app_manager
@@ -103,10 +103,12 @@ def main():
             sys.exit(1)
 
     enable_app_replacement = rospy.get_param('~enable_app_replacement', True)
+    enable_topic_remapping = rospy.get_param('~enable_topic_remapping', True)
 
     am = app_manager.AppManager(
         robot_name, interface_master, app_list, exchange, plugins,
         enable_app_replacement=enable_app_replacement,
+        enable_topic_remapping=enable_topic_remapping,
         sigint_timeout=sigint_timeout, sigterm_timeout=sigterm_timeout)
 
     rospy.on_shutdown(am.shutdown)

diff --git a/src/app_manager/app_manager.py b/src/app_manager/app_manager.py
@@ -125,6 +125,7 @@ class AppManager(object):
     def __init__(
             self, robot_name, interface_master, app_list,
             exchange, plugins=None, enable_app_replacement=True,
+            enable_topic_remapping=True,
             sigint_timeout=15.0, sigterm_timeout=2.0,
     ):
         self._robot_name = robot_name
@@ -134,6 +135,7 @@ def __init__(
         self._exchange = exchange
         self._plugins = plugins
         self._enable_app_replacement = enable_app_replacement
+        self._enable_topic_remapping = enable_topic_remapping
         self._sigint_timeout = sigint_timeout
         self._sigterm_timeout = sigterm_timeout
 
@@ -442,11 +444,12 @@ def handle_start_app(self, req):
                 nodes.extend(self._launch.config.nodes)
             if app.run:
                 nodes.append(app.run)
-            for N in nodes:
-                for t in app.interface.published_topics.keys():
-                    N.remap_args.append((t, self._app_interface + '/' + t))
-                for t in app.interface.subscribed_topics.keys():
-                    N.remap_args.append((t, self._app_interface + '/' + t))
+            if self._enable_topic_remapping:
+                for N in self._launch.config.nodes:
+                    for t in app.interface.published_topics.keys():
+                        N.remap_args.append((t, self._app_interface + '/' + t))
+                    for t in app.interface.subscribed_topics.keys():
+                        N.remap_args.append((t, self._app_interface + '/' + t))
 
             # run plugin modules first
             self._current_plugin_processes = []
@@ -514,8 +517,11 @@ def handle_start_app(self, req):
             if app.timeout is not None:
                 self._start_time = rospy.Time.now()
 
-            fp = [self._app_interface + '/' + x for x in app.interface.subscribed_topics.keys()]
-            lp = [self._app_interface + '/' + x for x in app.interface.published_topics.keys()]
+            fp = [x for x in app.interface.subscribed_topics.keys()]
+            lp = [x for x in app.interface.published_topics.keys()]
+            if self._enable_topic_remapping:
+                fp = [self._app_interface + '/' + x for x in fp]
+                lp = [self._app_interface + '/' + x for x in lp]
 
             self._interface_sync = MasterSync(self._interface_master, foreign_pub_names=fp, local_pub_names=lp)