Adapt to '--ros-args ... [--]'-based ROS args extraction

rclcpp/include/rclcpp/node_options.hpp

@@ -99,7 +99,8 @@ class NodeOptions
   /// Set the arguments, return this for parameter idiom.
   /**
    * These arguments are used to extract remappings used by the node and other
-   * settings.
+   * settings. Being specific to a ROS node, an implicit `--ros-args` scope flag
+   * always precedes these arguments.
    *
    * This will cause the internal rcl_node_options_t struct to be invalidated.
    */

rclcpp/src/rclcpp/node_options.cpp

@@ -90,11 +90,23 @@ NodeOptions::get_rcl_node_options() const
     node_options_->use_global_arguments = this->use_global_arguments_;
     node_options_->domain_id = this->get_domain_id_from_env();
 
-    std::unique_ptr<const char *[]> c_args;
+    int c_argc = 0;
+    std::unique_ptr<const char *[]> c_argv;
     if (!this->arguments_.empty()) {
-      c_args.reset(new const char *[this->arguments_.size()]);
-      for (std::size_t i = 0; i < this->arguments_.size(); ++i) {
-        c_args[i] = this->arguments_[i].c_str();
+      auto it = std::find(
+        this->arguments_.cbegin(), this->arguments_.cend(), RCL_ROS_ARGS_FLAG);
+
+      c_argc = static_cast<int>(this->arguments_.size());
+      if (it == this->arguments_.cend()) c_argc += 1;
+
+      c_argv.reset(new const char *[c_argc]);
+
+      std::size_t i = 0;
+      if (it == this->arguments_.cend()) {
+        c_argv[i++] = RCL_ROS_ARGS_FLAG;
+      }
+      for (std::size_t j = 0; j < this->arguments_.size(); ++i, ++j) {
+        c_argv[i] = this->arguments_[j].c_str();
       }
     }
 
@@ -103,8 +115,7 @@ NodeOptions::get_rcl_node_options() const
     }
 
     rmw_ret_t ret = rcl_parse_arguments(
-      static_cast<int>(this->arguments_.size()), c_args.get(), this->allocator_,
-      &(node_options_->arguments));
+      c_argc, c_argv.get(), this->allocator_, &(node_options_->arguments));
 
     if (RCL_RET_OK != ret) {
       throw_from_rcl_error(ret, "failed to parse arguments");

rclcpp/test/test_node_global_args.cpp

@@ -28,8 +28,8 @@ class TestNodeWithGlobalArgs : public ::testing::Test
 protected:
   static void SetUpTestCase()
   {
-    const char * const args[] = {"proc", "__node:=global_node_name"};
-    rclcpp::init(2, args);
+    const char * const args[] = {"proc", "--ros-args", "__node:=global_node_name"};
+    rclcpp::init(3, args);
   }
 };
 

rclcpp/test/test_utilities.cpp

@@ -22,8 +22,10 @@
 #include "rclcpp/utilities.hpp"
 
 TEST(TestUtilities, remove_ros_arguments) {
-  const char * const argv[] = {"process_name", "-d", "__ns:=/foo/bar",
-    "__ns:=/fiz/buz", "--foo=bar", "--baz"};
+  const char * const argv[] = {
+    "process_name", "-d", "--ros-args", "__ns:=/foo/bar", "__ns:=/fiz/buz", "--",
+    "--foo=bar", "--baz"
+  };
   int argc = sizeof(argv) / sizeof(const char *);
   auto args = rclcpp::remove_ros_arguments(argc, argv);