Set parameters from file for composable nodes

launch_ros/launch_ros/actions/load_composable_nodes.py

@@ -14,6 +14,7 @@
 
 """Module for the LoadComposableNodes action."""
 
+from pathlib import Path
 import threading
 
 from typing import List
@@ -35,6 +36,7 @@
 from launch.utilities import is_a_subclass
 from launch.utilities import normalize_to_list_of_substitutions
 from launch.utilities import perform_substitutions
+from launch_ros.parameter_descriptions import ParameterFile
 
 from .composable_node_container import ComposableNodeContainer
 
@@ -281,6 +283,11 @@ def get_composable_node_load_request(
  if isinstance(param, tuple):
  subs = normalize_parameter_dict({param[0]: param[1]})
  parameters.append(subs)
+ else:
+ param_file_path = Path(param).resolve()
+ assert param_file_path.is_file()
+ subs = ParameterFile(param_file_path)
+ parameters.append(subs)
  if composable_node_description.parameters is not None:
  parameters.extend(list(composable_node_description.parameters))
  if parameters:

test_launch_ros/test/test_launch_ros/actions/test_set_parameters_from_file.py

@@ -24,6 +24,8 @@
 
 from launch_ros.actions import Node
 from launch_ros.actions import SetParameter, SetParametersFromFile
+from launch_ros.actions.load_composable_nodes import get_composable_node_load_request
+from launch_ros.descriptions import ComposableNode
 
 import yaml
 
@@ -133,4 +135,44 @@ def test_set_param_with_node():
  }
  }
 
-# TODO: (Aditya) Add test case for composable node
+
+def test_set_param_with_composable_node():
+ lc = MockContext()
+ node_description = ComposableNode(
+ package='asd',
+ plugin='my_plugin',
+ name='my_node',
+ namespace='my_ns',
+ parameters=[{'asd': 'bsd'}]
+ )
+ param_file_path = os.path.dirname(os.path.abspath(__file__)) + '/example_parameters_1.yaml'
+ set_param_1 = SetParametersFromFile(param_file_path)
+ set_param_1.execute(lc)
+ request = get_composable_node_load_request(node_description, lc)
+ parameters = request.parameters
+ assert len(parameters) == 3
+ assert parameters[0].name == 'param_1_name'
+ assert parameters[0].value.integer_value == 10
+ assert parameters[1].name == 'param_2_name'
+ assert parameters[1].value.integer_value == 20
+ assert parameters[2].name == 'asd'
+ assert parameters[2].value.string_value == 'bsd'
+
+ lc = MockContext()
+ node_description = ComposableNode(
+ package='asd',
+ plugin='my_plugin',
+ name='my_node_2',
+ namespace='my_ns',
+ parameters=[{'asd': 'bsd'}]
+ )
+ param_file_path = os.path.dirname(os.path.abspath(__file__)) + '/example_parameters_1.yaml'
+ set_param_1 = SetParametersFromFile(param_file_path)
+ set_param_1.execute(lc)
+ request = get_composable_node_load_request(node_description, lc)
+ parameters = request.parameters
+ assert len(parameters) == 2
+ assert parameters[0].name == 'param_1_name'
+ assert parameters[0].value.integer_value == 10
+ assert parameters[1].name == 'asd'
+ assert parameters[1].value.string_value == 'bsd'