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Support non-interactive ros2 launch executions #210

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merged 1 commit into from
Dec 21, 2020
Merged

Support non-interactive ros2 launch executions #210

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13 changes: 11 additions & 2 deletions ros2launch/ros2launch/api/api.py
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Original file line number Diff line number Diff line change
Expand Up @@ -140,9 +140,18 @@ def parse_launch_arguments(launch_arguments: List[Text]) -> List[Tuple[Text, Tex
return parsed_launch_arguments.items()


def launch_a_launch_file(*, launch_file_path, launch_file_arguments, debug=False):
def launch_a_launch_file(
*,
launch_file_path,
launch_file_arguments,
noninteractive=False,
debug=False
):
"""Launch a given launch file (by path) and pass it the given launch file arguments."""
launch_service = launch.LaunchService(argv=launch_file_arguments, debug=debug)
launch_service = launch.LaunchService(
argv=launch_file_arguments,
noninteractive=noninteractive,
debug=debug)
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.
Expand Down
5 changes: 5 additions & 0 deletions ros2launch/ros2launch/command/launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
# limitations under the License.

import os
import sys

from ament_index_python.packages import get_package_prefix
from ament_index_python.packages import PackageNotFoundError
Expand Down Expand Up @@ -72,6 +73,9 @@ class LaunchCommand(CommandExtension):

def add_arguments(self, parser, cli_name):
"""Add arguments to argparse."""
parser.add_argument(
'-n', '--noninteractive', default=not sys.stdin.isatty(), action='store_true',
help='Run the launch system non-interactively, with no terminal associated')
parser.add_argument(
'-d', '--debug', default=False, action='store_true',
help='Put the launch system in debug mode, provides more verbose output.')
Expand Down Expand Up @@ -155,5 +159,6 @@ def main(self, *, parser, args):
return launch_a_launch_file(
launch_file_path=path,
launch_file_arguments=launch_arguments,
noninteractive=args.noninteractive,
debug=args.debug
)