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ros2 / launch

Tools for launching multiple processes and for writing tests involving multiple processes.
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Cannot parse var in respawn #568

Closed kosuke55 closed 2 years ago

kosuke55 commented 2 years ago

Bug report

Required Info:

Steps to reproduce issue

Simple sample launch with respawn arg. turtle.launch

<launch>
  <arg name="respawn" default="false" />
  <node name="turtlesim" pkg="turtlesim" exec="turtlesim_node" output="screen" respawn="$(var respawn)" />
</launch>

Run following command.

ros2 launch turtle.launch
kill $(pgrep -f __node:=turtlesim)

The node respaws even though respawn is set to false.

Expected behavior

If false, do not respawn.

ros2 launch turtle.launch respawn:=false
kill $(pgrep -f __node:=turtlesim)

If true, respawn.

ros2 launch turtle.launch respawn:=true
kill $(pgrep -f __node:=turtlesim)

Actual behavior

Both will respawn. No matter what string we set, respawn works.

[INFO] [turtlesim_node-1]: process started with pid [3555054]
[turtlesim_node-1] 1639106343.701872 [100] turtlesim_: using network interface wlp0s20f3 (udp/192.168.50.218) selected arbitrarily from: wlp0s20f3, docker0
[turtlesim_node-1] [INFO 1639106343.708674157] [turtlesim]: Starting turtlesim with node name /turtlesim
[turtlesim_node-1] [INFO 1639106343.710621384] [turtlesim]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]

Additional information

I tried to fix it with https://github.com/ros2/launch/pull/569 . Please check it.

Feature request

Feature description

Implementation considerations

SteveMacenski commented 2 years ago

I just ran into this while adding respawn support to Nav2. Its not yet on Rolling so just commenting here that its an issue but I expect that it will be removed in the next Rolling sync. https://github.com/ros-planning/navigation2/pull/2910

Will this get in for Humble?

Also, the PR is merged, I think this ticket can be closed.

CC @clalancette

clalancette commented 2 years ago

This has already been released into the launch packages in version 0.22.0. Can you double-check that you are using at least that version?

kosuke55 commented 2 years ago

This issue was solved with #569 and released in 0.22.0