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fix(localize_topic): fix name-space organization of launch tree #142

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fix(localize_topic): fix name-space organization of launch tree #142

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9b194f6
fix a bug in launch xml parser that cause error when getting same lau…
Owen-Liuyuxuan Nov 1, 2024
0b21e6e
Merge branch 'main' into fix_same_name_launch
Owen-Liuyuxuan Nov 5, 2024
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10 changes: 5 additions & 5 deletions ...ls/autoware_debug_tools/topic_connection_checker/launch_file_analyse/launch_xml_parser.py
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Original file line number Diff line number Diff line change
Expand Up @@ -231,7 +231,7 @@ def process_include_tag(
if included_file:
context["__tree__"].add_child(
context["__current_launch_name_"],
os.path.basename(included_file),
f"{group_base_namespace}/{os.path.basename(included_file)}",
path=included_file,
)
if included_file.startswith("/opt/ros/humble") and (not FLAG_CHECKING_SYSTEM_PROJECTS):
Expand Down Expand Up @@ -289,12 +289,12 @@ def parse_group_tag(
if parent_file_space is None:
parent_file_space = base_namespace
# find the push-ros-namespace tag inside the children
group_base_namespace = deepcopy(base_namespace)
group_base_namespace = deepcopy(parent_file_space)
for child in group_tag:
if child.tag == "push-ros-namespace":
if child.get("namespace").strip() == "/":
continue
group_base_namespace = f"{base_namespace}/{child.get('namespace').strip('/')}"
group_base_namespace = f"{group_base_namespace}/{child.get('namespace').strip('/')}"
# print(f"Setting ROS namespace to {group_base_namespace} inside group")

# find all other children
Expand Down Expand Up @@ -329,7 +329,7 @@ def process_tag(
elif tag.tag == "let":
context = parse_let_tag(tag, base_namespace, context, local_context)
elif tag.tag == "group":
context = parse_group_tag(tag, base_namespace, context, local_context)
context = parse_group_tag(tag, base_namespace, context, local_context, group_base_namespace)
elif tag.tag == "include":
context = process_include_tag(
tag, context, local_context, base_namespace, group_base_namespace
Expand All @@ -347,7 +347,7 @@ def parse_xml(file_path: str, namespace: str = "", context: dict = {}):
"""Recursively parse XML files, handling <include> tags. For each file, the namespace should be the same."""
full_path = os.path.join(file_path)
context["__current_launch_file__"] = full_path
context["__current_launch_name_"] = os.path.basename(full_path)
context["__current_launch_name_"] = f"{namespace}/{os.path.basename(full_path)}"
if "__tree__" not in context:
context["__tree__"] = LaunchTree()
if context["__tree__"].root is None:
Expand Down
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