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Set parameters from file for composable nodes #281

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merged 4 commits into from
Nov 2, 2021
Merged

Set parameters from file for composable nodes #281

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e8f9be9
Set parameters from file for composable nodes
adityapande-1995 Oct 26, 2021
7217338
test case added
adityapande-1995 Nov 1, 2021
bf11eef
test case added
adityapande-1995 Nov 1, 2021
b92da11
use pathlib instead of os.path
adityapande-1995 Nov 2, 2021
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7 changes: 7 additions & 0 deletions launch_ros/launch_ros/actions/load_composable_nodes.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@

"""Module for the LoadComposableNodes action."""

import os
import threading

from typing import List
Expand All @@ -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

Expand Down Expand Up @@ -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 = os.path.abspath(param)
assert os.path.isfile(param_file_path)
subs = ParameterFile(param_file_path)
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parameters.append(subs)
if composable_node_description.parameters is not None:
parameters.extend(list(composable_node_description.parameters))
if parameters:
Expand Down