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use locals instead of launch configurations to store ros_remaps and ros_namespace #470

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use locals instead of launch configurations to store ros_remaps and ros_namespace #470

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4 changes: 2 additions & 2 deletions launch_ros/launch_ros/actions/node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -400,7 +400,7 @@ def _perform_substitutions(self, context: LaunchContext) -> None:
if self.__node_namespace is not None:
expanded_node_namespace = perform_substitutions(
context, normalize_to_list_of_substitutions(self.__node_namespace))
base_ns = context.launch_configurations.get('ros_namespace', None)
base_ns = context.get_locals_as_dict().get('ros_namespace', None)
expanded_node_namespace = make_namespace_absolute(
prefix_namespace(base_ns, expanded_node_namespace))
if expanded_node_namespace is not None:
Expand Down Expand Up @@ -468,7 +468,7 @@ def _perform_substitutions(self, context: LaunchContext) -> None:
cmd_extension = ['--params-file' if is_file else '-p', f'{param_argument}']
self.cmd.extend([normalize_to_list_of_substitutions(x) for x in cmd_extension])
# expand remappings too
global_remaps = context.launch_configurations.get('ros_remaps', None)
global_remaps = context.get_locals_as_dict().get('ros_remaps', None)
if global_remaps or self.__remappings:
self.__expanded_remappings = []
if global_remaps:
Expand Down
4 changes: 2 additions & 2 deletions launch_ros/launch_ros/actions/push_ros_namespace.py
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Original file line number Diff line number Diff line change
Expand Up @@ -67,7 +67,7 @@ def namespace(self) -> List[Substitution]:
def execute(self, context: LaunchContext):
"""Execute the action."""
pushed_namespace = perform_substitutions(context, self.namespace)
previous_namespace = context.launch_configurations.get('ros_namespace', None)
previous_namespace = context.get_locals_as_dict().get('ros_namespace', None)
namespace = make_namespace_absolute(
prefix_namespace(previous_namespace, pushed_namespace))
try:
Expand All @@ -79,4 +79,4 @@ def execute(self, context: LaunchContext):
previous_namespace, pushed_namespace
)
)
context.launch_configurations['ros_namespace'] = namespace
context.extend_locals({'ros_namespace': namespace})
4 changes: 2 additions & 2 deletions launch_ros/launch_ros/actions/set_remap.py
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Original file line number Diff line number Diff line change
Expand Up @@ -88,6 +88,6 @@ def execute(self, context: LaunchContext):
"""Execute the action."""
src = perform_substitutions(context, self.__src)
dst = perform_substitutions(context, self.__dst)
global_remaps = context.launch_configurations.get('ros_remaps', [])
global_remaps = context.get_locals_as_dict().get('ros_remaps', [])
global_remaps.append((src, dst))
context.launch_configurations['ros_remaps'] = global_remaps
context.extend_locals({'ros_remaps': global_remaps})