Plumb rclpy.init context to get_default_launch_description #193
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wjwwood
reviewed
Mar 6, 2019
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A question for @wjwwood - is it necessary to shut-down the context when we're done, or is it sufficient to just pass a context here?
No need to call shutdown explicitly (it is called automatically by the pycapsule destructor), but if you create a context, it's a nice thing to do when you know it no longer should be used. I'd change this:
launch/ros2launch/ros2launch/api/api.py
Lines 140 to 141 in 632ef1f
To be something like this:
context = rclpy.context.Context()
rclpy.init(argv=..., context=context)
launch_service.include_launch_description(
launch_ros.get_default_launch_description(prefix_output_with_name=False, context=context))
# ...
ret = launch_service.run()
rclpy.shutdown(context=context)
return retd9dd5e2 to
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pbaughman
commented
Mar 6, 2019
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CI:
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The test failures look unrelated/flaky:
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From #189
This lets you pass a launch context to get_default_launch_description into get_default_launch_description and plumbs it all the way down to the ROSSpecificLaunchStartup launch action.
I couldn't find where rclpy.shutdown is called, so I didn't hook that up anywhere.
I also had to change
rclpy.get_global_executorto constructing my own SingleThreadedExecutor because the executor needs to be built with the same context as the node.This Incomplete!
This is about 50% of what's needed for issue 189. The other half is to make ros2 launch actually use this plumbing. A question for @wjwwood - is it necessary to shut-down the context when we're done, or is it sufficient to just pass a context here?