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[backport iron] Node namespace parameter #953

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merged 3 commits into from
Feb 28, 2024
Merged

[backport iron] Node namespace parameter #953

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9da1262
[backport iron] node namespace parameter
CursedRock17 Feb 27, 2024
d4b675b
Adding back camera info
CursedRock17 Feb 27, 2024
4bffad5
Adjusting whitespace
CursedRock17 Feb 28, 2024
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12 changes: 11 additions & 1 deletion image_proc/launch/image_proc.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -41,16 +41,24 @@


def generate_launch_description():

arg_namespace = DeclareLaunchArgument(
name='namespace', default_value='',
description=('namespace for all components loaded')
)

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linter seems to think that you have some spaces on this line (it shows in the individual second commit as well -although I can't actually see it highlighted here as part of the PR - which is odd)

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Yea I noticed the same thing when the flake test failed, just assumed it was a CI glitch. I've tried to retrigger by removing any sort of white space that may have come up

composable_nodes = [
ComposableNode(
package='image_proc',
plugin='image_proc::DebayerNode',
name='debayer_node',
namespace=LaunchConfiguration('namespace'),
),
ComposableNode(
package='image_proc',
plugin='image_proc::RectifyNode',
name='rectify_mono_node',
namespace=LaunchConfiguration('namespace'),
# Remap subscribers and publishers
remappings=[
('image', 'image_mono'),
Expand All @@ -62,6 +70,7 @@ def generate_launch_description():
package='image_proc',
plugin='image_proc::RectifyNode',
name='rectify_color_node',
namespace=LaunchConfiguration('namespace'),
# Remap subscribers and publishers
remappings=[
('image', 'image_color'),
Expand All @@ -82,7 +91,7 @@ def generate_launch_description():
image_processing_container = ComposableNodeContainer(
condition=LaunchConfigurationEquals('container', ''),
name='image_proc_container',
namespace='',
namespace=LaunchConfiguration('namespace'),
package='rclcpp_components',
executable='component_container',
composable_node_descriptions=composable_nodes,
Expand All @@ -98,6 +107,7 @@ def generate_launch_description():
)

return LaunchDescription([
arg_namespace,
arg_container,
image_processing_container,
load_composable_nodes,
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