From c5e2aa2bf0eb60d61c66dbe0a6da365230b3387d Mon Sep 17 00:00:00 2001
From: Jacob Perron <jacob@openrobotics.org>
Date: Mon, 6 Jan 2020 15:53:46 -0800
Subject: [PATCH] Fix frontend topic remapping (#111)

* Add frontend remap test

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

* Pass data_type parameter to remap entity

This resolves an issue where frontend remaps are not parsed.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
---
 launch_ros/launch_ros/actions/node.py                |  2 +-
 .../test_launch_ros/frontend/test_node_frontend.py   | 12 ++++++++++++
 2 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/launch_ros/launch_ros/actions/node.py b/launch_ros/launch_ros/actions/node.py
index adbd8957..6e6c0138 100644
--- a/launch_ros/launch_ros/actions/node.py
+++ b/launch_ros/launch_ros/actions/node.py
@@ -244,7 +244,7 @@ def parse(cls, entity: Entity, parser: Parser):
         ns = entity.get_attr('namespace', optional=True)
         if ns is not None:
             kwargs['node_namespace'] = parser.parse_substitution(ns)
-        remappings = entity.get_attr('remap', optional=True)
+        remappings = entity.get_attr('remap', data_type=List[Entity], optional=True)
         if remappings is not None:
             kwargs['remappings'] = [
                 (
diff --git a/test_launch_ros/test/test_launch_ros/frontend/test_node_frontend.py b/test_launch_ros/test/test_launch_ros/frontend/test_node_frontend.py
index e0b02b86..595454bc 100644
--- a/test_launch_ros/test/test_launch_ros/frontend/test_node_frontend.py
+++ b/test_launch_ros/test/test_launch_ros/frontend/test_node_frontend.py
@@ -56,6 +56,8 @@
             </param>
             <param from="{}"/>
             <env name="var" value="1"/>
+            <remap from="foo" to="bar"/>
+            <remap from="baz" to="foobar"/>
         </node>
         <node exec="{}" args="-c 'import sys; print(sys.argv[1:])'" node-name="my_listener" namespace="my_ns" output="screen"/>
     </launch>
@@ -110,6 +112,11 @@
             env:
                 -   name: var
                     value: '1'
+            remap:
+                -   from: "foo"
+                    to: "bar"
+                -   from: "baz"
+                    to: "foobar"
         - node:
             exec: {}
             output: screen
@@ -162,6 +169,11 @@ def test_node_frontend(file):
     assert param_dict['param_group1.param11'] == ('asd', 'bsd', 'csd')
     assert param_dict['param_group1.param12'] == ''
 
+    # Check remappings exist
+    remappings = ld.describe_sub_entities()[2]._Node__remappings
+    assert remappings is not None
+    assert len(remappings) == 2
+
     listener_node_action = ld.describe_sub_entities()[3]
     listener_node_cmd = listener_node_action.process_details['cmd']
     assert [