propage a portion of global args to the controller nodes

controller_manager/include/controller_manager/controller_manager.hpp

@@ -577,6 +577,7 @@ class ControllerManager : public rclcpp::Node
  std::map<std::string, std::vector<std::string>> controller_chained_reference_interfaces_cache_;
  std::map<std::string, std::vector<std::string>> controller_chained_state_interfaces_cache_;
 
+ rclcpp::NodeOptions cm_node_options_;
  std::string robot_description_;
  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr robot_description_subscription_;
  rclcpp::TimerBase::SharedPtr robot_description_notification_timer_;

controller_manager/src/controller_manager.cpp

@@ -24,6 +24,7 @@
 #include "controller_manager_msgs/msg/hardware_component_state.hpp"
 #include "hardware_interface/types/lifecycle_state_names.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
+#include "rcl/arguments.h"
 #include "rclcpp/version.h"
 #include "rclcpp_lifecycle/state.hpp"
 
@@ -197,7 +198,8 @@ ControllerManager::ControllerManager(
  kControllerInterfaceNamespace, kControllerInterfaceClassName)),
  chainable_loader_(
  std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
- kControllerInterfaceNamespace, kChainableControllerInterfaceClassName))
+ kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)),
+ cm_node_options_(options)
 {
  init_controller_manager();
 }
@@ -217,7 +219,8 @@ ControllerManager::ControllerManager(
  kControllerInterfaceNamespace, kControllerInterfaceClassName)),
  chainable_loader_(
  std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
- kControllerInterfaceNamespace, kChainableControllerInterfaceClassName))
+ kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)),
+ cm_node_options_(options)
 {
  init_controller_manager();
 }
@@ -234,7 +237,8 @@ ControllerManager::ControllerManager(
  kControllerInterfaceNamespace, kControllerInterfaceClassName)),
  chainable_loader_(
  std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
- kControllerInterfaceNamespace, kChainableControllerInterfaceClassName))
+ kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)),
+ cm_node_options_(options)
 {
  init_controller_manager();
 }
@@ -2819,29 +2823,56 @@ rclcpp::NodeOptions ControllerManager::determine_controller_node_options(
 
  rclcpp::NodeOptions controller_node_options = controller.c->define_custom_node_options();
  std::vector<std::string> node_options_arguments = controller_node_options.arguments();
- const std::string ros_args_arg = "--ros-args";
+
+ for (const std::string & arg : cm_node_options_.arguments())
+ {
+ if (arg.find("__ns") != std::string::npos || arg.find("__node") != std::string::npos)
+ {
+ if (
+ node_options_arguments.back() == RCL_REMAP_FLAG ||
+ node_options_arguments.back() == RCL_SHORT_REMAP_FLAG)
+ {
+ node_options_arguments.pop_back();
+ }
+ continue;
+ }
+
+ node_options_arguments.push_back(arg);
+ }
+
  if (controller.info.parameters_file.has_value())
  {
- if (!check_for_element(node_options_arguments, ros_args_arg))
+ if (!check_for_element(node_options_arguments, RCL_ROS_ARGS_FLAG))
  {
- node_options_arguments.push_back(ros_args_arg);
+ node_options_arguments.push_back(RCL_ROS_ARGS_FLAG);
  }
- node_options_arguments.push_back("--params-file");
+ node_options_arguments.push_back(RCL_PARAM_FILE_FLAG);
  node_options_arguments.push_back(controller.info.parameters_file.value());
  }
 
  // ensure controller's `use_sim_time` parameter matches controller_manager's
  const rclcpp::Parameter use_sim_time = this->get_parameter("use_sim_time");
  if (use_sim_time.as_bool())
  {
- if (!check_for_element(node_options_arguments, ros_args_arg))
+ if (!check_for_element(node_options_arguments, RCL_ROS_ARGS_FLAG))
  {
- node_options_arguments.push_back(ros_args_arg);
+ node_options_arguments.push_back(RCL_ROS_ARGS_FLAG);
  }
- node_options_arguments.push_back("-p");
+ node_options_arguments.push_back(RCL_PARAM_FLAG);
  node_options_arguments.push_back("use_sim_time:=true");
  }
 
+ std::string arguments;
+ arguments.reserve(1000);
+ for (const auto & arg : node_options_arguments)
+ {
+ arguments.append(arg);
+ arguments.append(" ");
+ }
+ RCLCPP_INFO(
+ get_logger(), "Controller '%s' node arguments: %s", controller.info.name.c_str(),
+ arguments.c_str());
+
  controller_node_options = controller_node_options.arguments(node_options_arguments);
  controller_node_options.use_global_arguments(false);
  return controller_node_options;

controller_manager/src/ros2_control_node.cpp

@@ -41,7 +41,22 @@ int main(int argc, char ** argv)
  std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
  std::string manager_node_name = "controller_manager";
 
- auto cm = std::make_shared<controller_manager::ControllerManager>(executor, manager_node_name);
+ rclcpp::NodeOptions cm_node_options = controller_manager::get_cm_node_options();
+ std::vector<std::string> node_arguments = cm_node_options.arguments();
+ for (int i = 1; i < argc; ++i)
+ {
+ if (node_arguments.empty() && std::string(argv[i]) != "--ros-args")
+ {
+ // A simple way to reject non ros args
+ continue;
+ }
+ RCLCPP_INFO(rclcpp::get_logger("CM args"), "Adding argument: %s", argv[i]);
+ node_arguments.push_back(argv[i]);
+ }
+ cm_node_options.arguments(node_arguments);
+
+ auto cm = std::make_shared<controller_manager::ControllerManager>(
+ executor, manager_node_name, "", cm_node_options);
 
  RCLCPP_INFO(cm->get_logger(), "update rate is %d Hz", cm->get_update_rate());