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Add --namespace argument to launch command. #433

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Add --namespace argument to launch command. #433

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13 changes: 9 additions & 4 deletions ros2launch/ros2launch/api/api.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,7 @@
import launch
from launch.frontend import Parser
from launch.launch_description_sources import get_launch_description_from_any_launch_file
from launch_ros.actions import PushROSNamespace


class MultipleLaunchFilesError(Exception):
Expand Down Expand Up @@ -145,7 +146,8 @@ def launch_a_launch_file(
noninteractive=False,
args=None,
option_extensions={},
debug=False
debug=False,
namespace=None
):
"""Launch a given launch file (by path) and pass it the given launch file arguments."""
for name in sorted(option_extensions.keys()):
Expand All @@ -167,14 +169,17 @@ def launch_a_launch_file(
parsed_launch_arguments = parse_launch_arguments(launch_file_arguments)
# Include the user provided launch file using IncludeLaunchDescription so that the
# location of the current launch file is set.
launch_description = launch.LaunchDescription([
launch_description = launch.LaunchDescription()
if namespace is not None:
launch_description.add_action(PushROSNamespace(namespace))
launch_description.add_action(
launch.actions.IncludeLaunchDescription(
launch.launch_description_sources.AnyLaunchDescriptionSource(
launch_file_path
),
launch_arguments=parsed_launch_arguments,
),
])
)
)
for name in sorted(option_extensions.keys()):
result = option_extensions[name].prelaunch(
launch_description,
Expand Down
7 changes: 6 additions & 1 deletion ros2launch/ros2launch/command/launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -102,6 +102,10 @@ def add_arguments(self, parser, cli_name):
help=('Regex pattern for filtering which executables the --launch-prefix is applied '
'to by matching the executable name.')
)
parser.add_argument(
'--namespace',
help=('A namespace to push to the actions/nodes started by the launch file.')
)
arg = parser.add_argument(
'package_name',
help='Name of the ROS package which contains the launch file')
Expand Down Expand Up @@ -175,5 +179,6 @@ def main(self, *, parser, args):
noninteractive=args.noninteractive,
args=args,
option_extensions=self._option_extensions,
debug=args.debug
debug=args.debug,
namespace=args.namespace
)