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ROS 2 command line interface tools

License: Apache License 2.0

Shell 0.24% Python 97.17% EmberScript 1.98% CMake 0.20% C++ 0.40%

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volkandre aeudes vincentrou nickolaim yechun1 stonier aalon ross-desmond thomas-moulard rarvolt sagniknitr boldhearts mikaelarguedas rosin-project timobanziger aws-ros-dev ivanpauno deankh vinnamkim codebot yuehchuan ben-greenberg artivis davidhodo kyrofa jpace121 kushalsahare sangbae vanillaviking venuvallayil seanyen ruffsl koch1993 priyablue evshary roboticist-tav pbaughman loyvanbeek wayneparrott tsukuyomih2 chang-hun0820 dongheeye comkieffer briancbn clalancette dawonn-haval crystaldust fujitatomoya sunbo57123 craigh92 ymollard daisukes hfz-nick cwyark martinperis hsgwa pal-robotics-forks shonigmann dlu gonzodepedro cosmoshua alsora tim-fan irobot-ros mobangjack saimukund303 ros-robot-series rob-clarke iwmq ros2middleware matthews-jca zcl nours-d chrisvdploeg bergercookie alorcamo wep21 danthony06 ace314159 moritzwillmann leiqtcv timonegk stokekld nextalone satoshi-ota galou kazuki0824 schornakj hliberacki bfyskuy henryportilla duanyuqi987 krsche rfriedm-trimble jlblancoc sshazly pluto4u guofenggitlearning iuhilnehc-ynos esteve

ros2cli's Issues

Can't pass args to an executable

allenh1@machina:~/ros2_ws$ ros2 run ros1_bridge dynamic_bridge --show-introspective
usage: ros2 [-h] Call `ros2 <command> -h` for more detailed usage. ...
ros2: error: unrecognized arguments: --show-introspective

I have argcomplete installed, and working, but I cannot complete a binary, nor can I pass any arguments to the executable.

Can't pass arguments through to nodes with `ros2 run`

Running on OS X from binaries, but I've also seen it on linux from source.

$ ./lib/demo_nodes_cpp/talker -t /chatter_qos
Publishing: 'Hello World: 1'
Publishing: 'Hello World: 2'
^Csignal_handler(2)
$ ros2 run demo_nodes_cpp talker -t /chatter_qos
usage: ros2 [-h] Call `ros2 <command> -h` for more detailed usage. ...
ros2: error: unrecognized arguments: -t /chatter_qos

Also happens with python nodes:

$ ros2 run demo_nodes_py listener_qos -n 10
usage: ros2 [-h] Call `ros2 <command> -h` for more detailed usage. ...
ros2: error: unrecognized arguments: -n 10

`ros2 topic echo` deserialization failed using connext

Bug report

Required Info:

Operating System:
- Windows 10
Installation type:
- binaries
Version or commit hash:
- https://ci.ros2.org/view/packaging/job/packaging_windows/1046/
DDS implementation:
- RTI Connext
Client library (if applicable):
- N/A

Steps to reproduce issue

Start a talker executable in one terminal

set RMW_IMPLEMENTATION=rmw_connext_cpp
ros2 run demo_nodes_cpp talker

Echo the topic in another terminal

set RMW_IMPLEMENTATION=rmw_connext_cpp
REM make sure the daemon uses connext
ros2 daemon stop
ros2 daemon start

ros2 topic echo /chatter

Expected behavior

Every message published would be echoed on the console

Actual behavior

The first message is printed, but then an error message deserialize from cdr buffer failed appears. The command never prints another message despite the talker continuing to publish.

C:\dev\ros2-windows>ros2 topic echo /chatter
RTI Data Distribution Service Evaluation License issued to OSRF (OSRF01) dthomas@osrfoundation.org For non-production use only.
Expires on 5-Nov-2018 See www.rti.com for more information.
data: 'Hello World: 50'

deserialize from cdr buffer failed

Additional information

Additionally, the command ros2 topic echo /chatter cannot be interrupted using CTRL + c. I had to kill the process in the task manager.

ros2 pkg executables list scripts as executables on windows

Bug report

Required Info:

Operating System:
- Windows 10
Installation type:
- http://ci.ros2.org/view/packaging/job/packaging_windows/732/artifact/ws/ros2-package-windows-AMD64.zip
Version or commit hash:
- def304b4270b6b935b7d6fbbf7671634c2532452
DDS implementation:
- Fast-RTPS
Client library (if applicable):
- N/A

Steps to reproduce issue

ros2 pkg executables examples_rclpy_minimal_publisher

Expected behavior

I'd expect only executable things to appear in the list

C:\Users\osrf>ros2 pkg executables examples_rclpy_minimal_publisher
examples_rclpy_minimal_publisher publisher_local_function.exe
examples_rclpy_minimal_publisher publisher_member_function.exe
examples_rclpy_minimal_publisher publisher_old_school.exe

Actual behavior

Both the *.exe and *-script.py appear in the list, but only one of them is executable

C:\Users\osrf>ros2 pkg executables examples_rclpy_minimal_publisher
examples_rclpy_minimal_publisher publisher_local_function-script.py
examples_rclpy_minimal_publisher publisher_local_function.exe
examples_rclpy_minimal_publisher publisher_member_function-script.py
examples_rclpy_minimal_publisher publisher_member_function.exe
examples_rclpy_minimal_publisher publisher_old_school-script.py
examples_rclpy_minimal_publisher publisher_old_school.exe

The script cannot be executed using ros2 run, so it probably shouldn't be in the list.

C:\Users\osrf>ros2 run examples_rclpy_minimal_publisher publisher_local_function-script.py
Traceback (most recent call last):
  File "C:\dev\ros2\Scripts\ros2-script.py", line 11, in <module>
    load_entry_point('ros2cli==0.0.0', 'console_scripts', 'ros2')()
  File "C:\dev\ros2\Lib\site-packages\ros2cli\cli.py", line 64, in main
    rc = extension.main(parser=parser, args=args)
  File "C:\dev\ros2\Lib\site-packages\ros2run\command\run.py", line 73, in main
    return run_executable(path=path, argv=args.argv, prefix=prefix)
  File "C:\dev\ros2\Lib\site-packages\ros2run\api\__init__.py", line 56, in run_executable
    process = subprocess.Popen(cmd)
  File "C:\Python36\lib\subprocess.py", line 707, in __init__
    restore_signals, start_new_session)
  File "C:\Python36\lib\subprocess.py", line 992, in _execute_child
    startupinfo)
OSError: [WinError 193] %1 is not a valid Win32 application

Additional information

ros2 topic list did not show topics from another machine

Bug report

Required Info:

Operating System:
- Windows 10, Ubuntu 16.04
Installation type:
- http://ci.ros2.org/view/packaging/job/packaging_windows/732/artifact/ws/ros2-package-windows-AMD64.zip
- Ubuntu from source
Version or commit hash:
- ubuntu 4b93748
DDS implementation:
- Fast-RTPS
Client library (if applicable):
- N/A

Steps to reproduce issue

Machine 1:
- Desktop Ubuntu 16.04 running windows 10 in virtualbox with "Bridged" networking
Machine 2:
- Laptop ubuntu 16.04 running docker with image based on ubuntu 16.04 using --network=host

Machine 2 (ubuntu in docker)

ros2 topic pub /test_topic std_msgs/String "{data: 'Hello World'}"
# This had been running a while
# CTRL+C, then ran
ros2 topic pub /test_topic std_msgs/String "{data: 'Hello World1'}"

Machine 1 (windows in VM)

ros2 topic echo /test_topic std_msgs/String
# above command receives messages
ros2 topic list
# This lists no topics, but publisher is stull running on machine 2

Expected behavior

I'd expect ros2 topic list to be able to list a topic if it was just successfully echo'd

Actual behavior

This is verbatim from cmd.exe

C:\Users\osrf>ros2 topic echo /test_topic std_msgs/String
data: Hello World

data: Hello World

data: Hello World

data: Hello World

data: Hello World

data: Hello World

data: Hello World

data: Hello World

data: Hello World1

data: Hello World1


C:\Users\osrf>
C:\Users\osrf>
C:\Users\osrf>
C:\Users\osrf>ros2 topic list

C:\Users\osrf>ros2 daemon status
The daemon is running

C:\Users\osrf>ros2 topic list

C:\Users\osrf>

Additional information

This happened once, but I'm unable to reproduce it since. I'm creating a ticket so I have something to search for in case it shows up again.

ros2 service call does not wait for the service to become available

If I start out with nothing at all running, then run:

$ ros2 service call /add_two_ints example_interfaces/AddTwoInts

And then in a second terminal, I run:

$ ros2 run demo_nodes_cpp add_two_ints_server

The service request never comes through. If I reverse the order (starting the server first), then it works fine. It seems like ros2 service call is not waiting for the service to become available before sending the request.

[ros2param] [ros2lifecycle] Crash with OpenSplice

When testing #106 I noticed I cannot get ros2 param or ros2 lifecycle on opensplice. ros2 service works though:

How to reproduce

Shell 1:
ros2 run demo_nodes_cpp parameter_node
Shell 2:
ros2 param set parameter_node foo 42

Actual behavior

Failed to wait on wait set: failed to detach guard condition, at /home/mikael/work/ros2/bouncy_ws/src/ros2/rmw_opensplice/rmw_opensplice_cpp/src/rmw_wait.cpp:375, at /home/mikael/work/ros2/bouncy_ws/src/ros2/rcl/rcl/src/rcl/wait.c:647

Expected behavior

Set parameter successful

Get the same error message when doing service calls via ros2 lifecycle

ros2 run lifecycle lifecycle_talker

ros2 lifecycle get lc_talker

[ros2 security] Docs: Valid keystore directory?

I cannot create a key for a node with ros2 security create_key due to an invalid keystore directory. What are valid keystore directories?

Running "ros2 srv show /add_two_ints" ends up with a traceback

If I run the command:

ros2 srv show /add_two_ints

I get the following traceback:

Traceback (most recent call last):
  File "/usr/bin/ros2", line 9, in <module>
    load_entry_point('ros2cli==0.0.0', 'console_scripts', 'ros2')()
  File "/opt/ros/r2b2/lib/python3.5/site-packages/ros2cli/cli.py", line 64, in main
    rc = extension.main(parser=parser, args=args)
  File "/opt/ros/r2b2/lib/python3.5/site-packages/ros2srv/command/srv.py", line 34, in main
    return extension.main(args=args)
  File "/opt/ros/r2b2/lib/python3.5/site-packages/ros2srv/verb/show.py", line 37, in main
    path = get_service_path(package_name, service_name)
  File "/opt/ros/r2b2/lib/python3.5/site-packages/ros2srv/api/__init__.py", line 44, in get_service_path
    service_types = get_service_types(package_name)
  File "/opt/ros/r2b2/lib/python3.5/site-packages/ros2srv/api/__init__.py", line 32, in get_service_types
    if not has_resource('packages', package_name):
  File "/opt/ros/r2b2/lib/python3.5/site-packages/ament_index_python/resources.py", line 88, in has_resource
    assert resource_name, 'The resource name must not be empty'

Looking at it, while the syntax of the command is clearly wrong (it should be something like ros2 srv show std_srvs/Trigger), it is not a nice user-experience to get a traceback for that. It would be nicer to get the help message, or an error message saying that the argument was not well-formed.

Add CLI tool to get a package's dependencies

Feature request

Feature description

It could be nice to have a tool to get the dependencies of a given package. Something like:

ros2 pkg depends <package name>

If we want to get fancier, we could also add options for different types of dependencies (build, exec, test, etc.).
And if we want to get even fancier, we could add an option to get sub-dependencies (essentially calling ros2 pkg depends recursively). This could be a separate feature request, though.

Implementation considerations

My first instinct would be to use the information encoded in the package.xml file. This would require two steps:

Finding the package.xml for the desired package

ros2 pkg prefix <package_name> is supposed to output the prefix path of a package. However, it seems to alway return the path to the install folder (not sure if this is a bug).

Parsing the file to extract the relevant information.

There's python libraries to parse xml files (e.g. xml.etree.ElementTree). I don't know ROS has a prefered library.
If we want to give options for the different types of dependencies, we would just have a filter during parsing.

Calling ros2 cli tool without arguments throws an error instead of listing available commands

Calling ros2 cli tool without arguments throws an error instead of listing available commands.

Bug report

Required Info:

Operating System:
- Ubuntu 16.04
Installation type:
- binary
Version or commit hash:
- Ardent

Steps to reproduce issue

$ ros2

Expected behavior

$ ros2
usage: ros2 [-h] Call `ros2 <command> -h` for more detailed usage. ...
<<<LIST OF COMMANDS>>>

Actual behavior

$ ros2
usage: ros2 [-h] Call `ros2 <command> -h` for more detailed usage. ...
ros2: error: the following arguments are required: Call `ros2 <command> -h` for more detailed usage.

Bug Source

It looks like this is being passed as the metavar instead of the help text to the argument parser.

ros2cli/ros2cli/ros2cli/command/__init__.py

Lines 92 to 95 in a4e00b2

 metavar = 'Call `{cli_name} <command> -h` for more detailed ' \ 

 'usage.'.format_map(locals()) 

 subparser = parser.add_subparsers( 

 title='Commands', description=description, metavar=metavar)

[rmw_connext_cpp] ros2 topic echo failed to receive data correctly

Bug report

Required Info:

Operating System:
- Mac Sierra OSX 10.12.6
Installation type:
- source
Version or commit hash:
- master
DDS implementation:
- rmw_connext

Steps to reproduce issue

RMW_IMPLEMENTATION=rmw_connext_cpp ros2 run demo_nodes_cpp talker

RMW_IMPLEMENTATION=rmw_connext_cpp ros2 topic echo /chatter

Expected behavior

Constant output of the data

Actual behavior

RMW_IMPLEMENTATION=rmw_connext_cpp ros2 topic echo /chatter
data: 'Hello World: 6'

deserialize from cdr buffer failed

Additional information

When running the listener accordingly to it, all data seems to be received correctly.

RMW_IMPLEMENTATION=rmw_connext_cpp ros2 run demo_nodes_cpp listener
RMW_IMPLEMENTATION=rmw_connext_cpp ros2 run demo_nodes_py listener

It also runs correctly when using fastrtps:

RMW_IMPLEMENTATION=rmw_fastrtps_cpp ros2 topic echo /chatter

Feature request

Feature description

Implementation considerations

[ros2 pkg] add option to get package "share directory" directly

Currently you can only get a package's installation prefix with this command using ros2 pkg prefix <package name>, but it would be convenient to be able to get at least the "share" directory of the package directly, if not others as well, i.e. <install prefix>/share/<package name> rather than just <install prefix>.

The command could either be ros2 pkg share <package name> or something like ros2 pkg prefix --share <package name> instead.

Argcomplete doesn't get setup if workspace was built with colcon

I downloaded a packaging archive built with colcon and after sourcing the setup.bash I don't get argcomplete functionality for ros2cli (whereas if the workspace is built with ament_tools I do). (@wjwwood encountered this earlier today too from source)

Does colcon not process the AMENT_ENVIRONMENT_HOOKS maybe? (maybe we're aware of this already and it is fine to leave it as an enhancement)

I put a debug print in https://github.com/ros2/ros2cli/blob/dace3ce49154203ca270a412229a2eec8b85619f/ros2cli/completion/ros2-argcomplete.bash and confirmed that the message gets printed for old archives built with ament_tools but not for recent archives built with colcon.

[ros2lifecycle] set verb help message doesnt give enough information

$ ros2 lifecycle set -h
usage: ros2 lifecycle set [-h] [--spin-time SPIN_TIME]
                          [--include-hidden-nodes]
                          node_name transition

Trigger lifecycle state transition

positional arguments:
  node_name             Name of the ROS node
  transition            The lifecycle transition

Users don't know is a transition / acceptable transition.
You need to call and fail to get more information:

$ ros2 lifecycle set lc_talker garbage
Unknown transition requested, available ones are:
- configure [1]
- configure_success [10]
- configure_failure [11]
- configure_error [22]
- cleanup [2]
- cleanup_success [20]
- cleanup_failure [21]
- cleanup_error [22]
- activate [3]
- activate_success [30]
- activate_failure [31]
- activate_error [32]
- deactivate [4]
- deactivate_success [40]
- deactivate_failure [41]
- deactivate_error [42]
- unconfigured_shutdown [50]
- inactive_shutdown [51]
- active_shutdown [52]
- shutdown_success [53]
- shutdown_failure [54]
- shutdown_error [55]
- errorprocessing_success [60]
- errorprocessing_failure [61]
- errorprocessing_error [62]

And that list gives all transitions, not only the ones that are available from the current state.

Suggestions to improve user experience:

Provide the list of all transition in the helps message
- If we want an up to date list it;s tricky as we need to create a lifecycle node and get the list of all transitions
- Static hard-coded list for the help message as we don't expect the list to change
Provide a way to get the list of only available transitions from the current state:
- Expose get_available_transitions through ros2 lifecycle (as a new verb?) and update the set help message to advise users to call that to know the possible transitions.

daemon behavior using multiple rmw implementations inconsistent

I've been testing fastrtps and opensplice in parallel environments on the same machine.

Testing (fastrtps) ros2 node list I noticed that the list had a lot of extra padding.

C:\Users\OSRF\Downloads\ardent_fastrtps\ros2-windows>ros2 node list
lc_listener





C:\Users\OSRF\Downloads\ardent_fastrtps\ros2-windows>

C:\Users\OSRF\Downloads\ardent_fastrtps\ros2-windows>ros2 node list
lc_listener

C:\Users\OSRF\Downloads\ardent_fastrtps\ros2-windows>ros2 daemon stop

When I restarted things again it went away. But after some more testing it came back. What I found was that the extra newlines come in when the daemon is the opensplice implementation's version.

It took me a while to figure this out as daemon status will report running if either implementations daemon is running.

But daemon stop will only stop the environment's version of the daemon, and refuse to stop the other one.

C:\Users\OSRF\Downloads\ardent_fastrtps\ros2-windows>ros2 daemon stop
Failed to shutdown daemon, it might be using a different rmw implementation

I'm not sure on the design goal of whether the daemon's are supposed to be implementation agnostic and ticket the different behavior between them. Or whether we should instead work to silo them so that we don't get cross talking behavior and each implementation runs it's own daemon in parallel.

daemon does not immediately report as running

If I immediately call status after start the daemon it does not report as running. It's slow enough I can reproduce it on the commandline with typed commands. If you poll a second later it reports as running. This was confusing when I didn't poll a 2nd time, and can lead to users and tools to multiply start the daemon and/or debug why the daemon isn't starting when it actually is.

It would be good to immediately report that the daemon is up, instead of having a delay before reporting it's running.

C:\Users\OSRF\Downloads\ardent_fastrtps\ros2-windows>ros2 daemon start
The daemon has been started

C:\Users\OSRF\Downloads\ardent_fastrtps\ros2-windows>ros2 daemon status
The daemon is not running

C:\Users\OSRF\Downloads\ardent_fastrtps\ros2-windows>ros2 daemon status
The daemon is running

C:\Users\OSRF\Downloads\ardent_fastrtps\ros2-windows>ros2 daemon stop
The daemon has been stopped

C:\Users\OSRF\Downloads\ardent_fastrtps\ros2-windows>ros2 daemon status
The daemon is not running

C:\Users\OSRF\Downloads\ardent_opensplice\ros2-windows>ros2 daemon status
The daemon is not running

C:\Users\OSRF\Downloads\ardent_opensplice\ros2-windows>ros2 daemon start
The daemon has been started

C:\Users\OSRF\Downloads\ardent_opensplice\ros2-windows>ros2 daemon status
The daemon is not running

C:\Users\OSRF\Downloads\ardent_opensplice\ros2-windows>ros2 daemon status
The daemon is running

C:\Users\OSRF\Downloads\ardent_opensplice\ros2-windows>ros2 daemon status
The daemon is running

C:\Users\OSRF\Downloads\ardent_opensplice\ros2-windows>ros2 daemon stop
The daemon has been stopped

C:\Users\OSRF\Downloads\ardent_opensplice\ros2-windows>ros2 daemon status
The daemon is not running

tools using daemon crash if default rmw implementation is not installed

Working from binaries, if the default rmw_implementation is removed and the ros2 tools invoked without specifying the RMW_IMPLEMENTATION the tools crash with a Traceback without useful error message.

root@10328256cca9:~# ros2 topic list 
Traceback (most recent call last):
  File "/opt/ros/bouncy/bin/ros2", line 11, in <module>
    load_entry_point('ros2cli==0.5.2', 'console_scripts', 'ros2')()
  File "/opt/ros/bouncy/lib/python3.6/site-packages/ros2cli/cli.py", line 69, in main
    rc = extension.main(parser=parser, args=args)
  File "/opt/ros/bouncy/lib/python3.6/site-packages/ros2topic/command/topic.py", line 43, in main
    return extension.main(args=args)
  File "/opt/ros/bouncy/lib/python3.6/site-packages/ros2topic/verb/list.py", line 34, in main
    with NodeStrategy(args) as node:
  File "/opt/ros/bouncy/lib/python3.6/site-packages/ros2cli/node/strategy.py", line 29, in __init__
    spawn_daemon(args)
  File "/opt/ros/bouncy/lib/python3.6/site-packages/ros2cli/node/daemon.py", line 72, in spawn_daemon
    stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, **kwargs)
  File "/usr/lib/python3.6/subprocess.py", line 709, in __init__
    restore_signals, start_new_session)
  File "/usr/lib/python3.6/subprocess.py", line 1275, in _execute_child
    restore_signals, start_new_session, preexec_fn)
TypeError: expected str, bytes or os.PathLike object, not NoneType
root@10328256cca9:~# ros2 node list  
Traceback (most recent call last):
  File "/opt/ros/bouncy/bin/ros2", line 11, in <module>
    load_entry_point('ros2cli==0.5.2', 'console_scripts', 'ros2')()
  File "/opt/ros/bouncy/lib/python3.6/site-packages/ros2cli/cli.py", line 69, in main
    rc = extension.main(parser=parser, args=args)
  File "/opt/ros/bouncy/lib/python3.6/site-packages/ros2node/command/node.py", line 39, in main
    return extension.main(args=args)
  File "/opt/ros/bouncy/lib/python3.6/site-packages/ros2node/verb/list.py", line 34, in main
    with NodeStrategy(args) as node:
  File "/opt/ros/bouncy/lib/python3.6/site-packages/ros2cli/node/strategy.py", line 29, in __init__
    spawn_daemon(args)
  File "/opt/ros/bouncy/lib/python3.6/site-packages/ros2cli/node/daemon.py", line 72, in spawn_daemon
    stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, **kwargs)
  File "/usr/lib/python3.6/subprocess.py", line 709, in __init__
    restore_signals, start_new_session)
  File "/usr/lib/python3.6/subprocess.py", line 1275, in _execute_child
    restore_signals, start_new_session, preexec_fn)
TypeError: expected str, bytes or os.PathLike object, not NoneType

How to reproduce:

$ docker run -it --rm osrf/ros2:bouncy-basic
# apt update && apt install -y ros-bouncy-rmw-opensplice-cpp
# apt remove ros-bouncy-rmw-fastrtps-cpp -y && apt autoremove -y
# source /opt/ros/bouncy/setup.bash
# ros2 node list

Issues using ros2 topic pub with nested messages

I am having a hard time publishing PoseWithCovarianceStamped messages for the AMCL demo in ROS 2. I thought I was doing something wrong with JSON formatting, but it happens even with #19 that switches to YAML parsing.

I've narrowed it down to a simpler problem: I can't publish Point messages.
Publishing the same message with ROS 1's rostopic pub works fine, using the autocompleted template from ROS 1. But it errors in ROS 2:

ros2 topic pub initialpose geometry_msgs/Point "x: 0.0                
y: 0.0
z: 0.0" 
Failed to load entry point 'pub': EOL while scanning string literal (pub.py, line 72)
usage: ros2 topic [-h] [--include-hidden-topics]
                  Call `ros2 topic <command> -h` for more detailed usage. ...
ros2 topic: error: argument Call `ros2 topic <command> -h` for more detailed usage.: invalid choice: 'pub' (choose from 'echo', 'list')

It must need to be formatted differently to ROS 1, but I have run out of ideas!

Message I actually want to publish

There's still probably user error on my part but if someone has suggestions I'd appreciate it.

ros2 topic pub initialpose geometry_msgs/PoseWithCovarianceStamped "header:
  stamp:
    sec: 0
    nanosec: 0
  frame_id: 'map'   
pose:
  pose:
    position: {x: 5.5, y: 4.5, z: 0.0}
    orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
  covariance: [0.5, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.5, 0.5, 0.0, 0.0, 0.0, 0.0, 0.0,    0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
    0.0, 0.0, 0.0, 0.0, 0.0, 0.5]"
Traceback (most recent call last):
  File "/home/dhood/ros2_ws/install_isolated/ros2cli/bin/ros2", line 11, in <module>
    load_entry_point('ros2cli==0.0.0', 'console_scripts', 'ros2')()
  File "/home/dhood/ros2_ws/install_isolated/ros2cli/lib/python3.5/site-packages/ros2cli/cli.py", line 64, in main
    rc = extension.main(parser=parser, args=args)
  File "/home/dhood/ros2_ws/install_isolated/ros2topic/lib/python3.5/site-packages/ros2topic/command/topic.py", line 38, in main
    return extension.main(args=args)
  File "/home/dhood/ros2_ws/install_isolated/ros2topic/lib/python3.5/site-packages/ros2topic/verb/pub.py", line 43, in main
    return main(args)
  File "/home/dhood/ros2_ws/install_isolated/ros2topic/lib/python3.5/site-packages/ros2topic/verb/pub.py", line 47, in main
    publisher(args.message_type, args.topic_name, args.values)
  File "/home/dhood/ros2_ws/install_isolated/ros2topic/lib/python3.5/site-packages/ros2topic/verb/pub.py", line 69, in publisher
    setattr(msg, field_name, field_type(field_value))
TypeError: __init__() takes 1 positional argument but 2 were given

Add a command to list all of the executables in a pkg

Currently, the ros2 pkg command has a way to list all packages, but not a way to list all executables that are available in a package. I think it would be a good idea to be able to list all of the executables to make it easier for the user to find that list.

New Flake 8 errors

https://ci.ros2.org/job/ci_linux-aarch64/1426/testReport/

./ros2cli/plugin_system.py:63:5: F841 local variable 'e' is assigned to but never used
    except PluginException as e:
    ^

./ros2cli/plugin_system.py:68:5: F841 local variable 'e' is assigned to but never used
    except Exception as e:
    ^

./ros2cli/entry_points.py:86:9: F841 local variable 'e' is assigned to but never used
        except Exception as e:
        ^

3     F841 local variable 'e' is assigned to but never used

22 files checked
3 errors

'ros2 param list' stuck when node create with namespace

Bug report

Required Info:

Operating System:
- Ubuntu 16.04
Installation type:
- from source
Version or commit hash:
- release bouncy
DDS implementation:
- Fast-RTPS
Client library (if applicable):
- rclcpp

Steps to reproduce issue

ros2 run demo_nodes_cpp talker __ns:=/demo
ros2 param list

Actual behavior

the 'ros2 param list' stuck forever with out output any message
'ros2 param set/get' also failed

edit by @sloretz for waffle.io
blocked by #105

daemon prevents rebuilding after running on Windows due to having dll open

After using the ros2 cli the daemon prevents a rebuild from completing successfully on windows.

A way to have introspection as to the cause of this failure would be very helpful. Or else a workaround that would allow the build to request the daemon to shutdown or other technique to not block the build would provide a better user experience.

  CMake Error at cmake_install.cmake:46 (file):
    file INSTALL cannot copy file "C:/dev/ros2/build/rcl/Release/rcl.dll" to
    "C:/dev/ros2/install/bin/rcl.dll".


C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V140\Microsoft.CppCommon.targets(133,5): error MSB3073: The command "
setlocal\r [C:\dev\ros2\build\rcl\INSTALL.vcxproj]
C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V140\Microsoft.CppCommon.targets(133,5): error MSB3073: "C:\Program F
iles\CMake\bin\cmake.exe" -DBUILD_TYPE=Release -P cmake_install.cmake\r [C:\dev\ros2\build\rcl\INSTALL.vcxproj]
C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V140\Microsoft.CppCommon.targets(133,5): error MSB3073: if %errorleve
l% neq 0 goto :cmEnd\r [C:\dev\ros2\build\rcl\INSTALL.vcxproj]
C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V140\Microsoft.CppCommon.targets(133,5): error MSB3073: :cmEnd\r [C:\
dev\ros2\build\rcl\INSTALL.vcxproj]
C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V140\Microsoft.CppCommon.targets(133,5): error MSB3073: endlocal & ca
ll :cmErrorLevel %errorlevel% & goto :cmDone\r [C:\dev\ros2\build\rcl\INSTALL.vcxproj]
C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V140\Microsoft.CppCommon.targets(133,5): error MSB3073: :cmErrorLevel
\r [C:\dev\ros2\build\rcl\INSTALL.vcxproj]
C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V140\Microsoft.CppCommon.targets(133,5): error MSB3073: exit /b %1\r
[C:\dev\ros2\build\rcl\INSTALL.vcxproj]
C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V140\Microsoft.CppCommon.targets(133,5): error MSB3073: :cmDone\r [C:
\dev\ros2\build\rcl\INSTALL.vcxproj]
C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V140\Microsoft.CppCommon.targets(133,5): error MSB3073: if %errorleve
l% neq 0 goto :VCEnd\r [C:\dev\ros2\build\rcl\INSTALL.vcxproj]
C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V140\Microsoft.CppCommon.targets(133,5): error MSB3073: :VCEnd" exite
d with code 1. [C:\dev\ros2\build\rcl\INSTALL.vcxproj]
Done Building Project "C:\dev\ros2\build\rcl\INSTALL.vcxproj" (default targets) -- FAILED.


Build FAILED.

"C:\dev\ros2\build\rcl\INSTALL.vcxproj" (default target) (1) ->
(PostBuildEvent target) ->
  C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V140\Microsoft.CppCommon.targets(133,5): error MSB3073: The command
 "setlocal\r [C:\dev\ros2\build\rcl\INSTALL.vcxproj]
C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V140\Microsoft.CppCommon.targets(133,5): error MSB3073: "C:\Program F
iles\CMake\bin\cmake.exe" -DBUILD_TYPE=Release -P cmake_install.cmake\r [C:\dev\ros2\build\rcl\INSTALL.vcxproj]
C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V140\Microsoft.CppCommon.targets(133,5): error MSB3073: if %errorleve
l% neq 0 goto :cmEnd\r [C:\dev\ros2\build\rcl\INSTALL.vcxproj]
C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V140\Microsoft.CppCommon.targets(133,5): error MSB3073: :cmEnd\r [C:\
dev\ros2\build\rcl\INSTALL.vcxproj]
C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V140\Microsoft.CppCommon.targets(133,5): error MSB3073: endlocal & ca
ll :cmErrorLevel %errorlevel% & goto :cmDone\r [C:\dev\ros2\build\rcl\INSTALL.vcxproj]
C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V140\Microsoft.CppCommon.targets(133,5): error MSB3073: :cmErrorLevel
\r [C:\dev\ros2\build\rcl\INSTALL.vcxproj]
C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V140\Microsoft.CppCommon.targets(133,5): error MSB3073: exit /b %1\r
[C:\dev\ros2\build\rcl\INSTALL.vcxproj]
C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V140\Microsoft.CppCommon.targets(133,5): error MSB3073: :cmDone\r [C:
\dev\ros2\build\rcl\INSTALL.vcxproj]
C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V140\Microsoft.CppCommon.targets(133,5): error MSB3073: if %errorleve
l% neq 0 goto :VCEnd\r [C:\dev\ros2\build\rcl\INSTALL.vcxproj]
C:\Program Files (x86)\MSBuild\Microsoft.Cpp\v4.0\V140\Microsoft.CppCommon.targets(133,5): error MSB3073: :VCEnd" exite
d with code 1. [C:\dev\ros2\build\rcl\INSTALL.vcxproj]

    0 Warning(s)
    1 Error(s)

Time Elapsed 00:00:04.53

Traceback when runnning ros2 topic list on windows

This happened once when I was testing. I'd run the command before and after successfully.

Using rmw_connext_cpp

C:\dev\ros2>ros2 topic list
Traceback (most recent call last):
  File "C:\dev\ros2\install\bin\ros2-script.py", line 11, in <module>
    load_entry_point('ros2cli==0.0.0', 'console_scripts', 'ros2')()
  File "C:\dev\ros2\install\Lib\site-packages\ros2cli\cli.py", line 64, in main
    rc = extension.main(parser=parser, args=args)
  File "C:\dev\ros2\install\Lib\site-packages\ros2topic\command\topic.py", line 38, in main
    return extension.main(args=args)
  File "C:\dev\ros2\install\Lib\site-packages\ros2topic\verb\list.py", line 34, in main
    with NodeStrategy(args) as node:
  File "C:\dev\ros2\install\Lib\site-packages\ros2cli\node\strategy.py", line 33, in __enter__
    self.node.__enter__()
  File "C:\dev\ros2\install\Lib\site-packages\ros2cli\node\daemon.py", line 67, in __enter__
    methods = self._proxy.system.listMethods()
  File "C:\Python36\lib\xmlrpc\client.py", line 1112, in __call__
    return self.__send(self.__name, args)
  File "C:\Python36\lib\xmlrpc\client.py", line 1452, in __request
    verbose=self.__verbose
  File "C:\Python36\lib\xmlrpc\client.py", line 1154, in request
    return self.single_request(host, handler, request_body, verbose)
  File "C:\Python36\lib\xmlrpc\client.py", line 1166, in single_request
    http_conn = self.send_request(host, handler, request_body, verbose)
  File "C:\Python36\lib\xmlrpc\client.py", line 1279, in send_request
    self.send_content(connection, request_body)
  File "C:\Python36\lib\xmlrpc\client.py", line 1309, in send_content
    connection.endheaders(request_body)
  File "C:\Python36\lib\http\client.py", line 1234, in endheaders
    self._send_output(message_body, encode_chunked=encode_chunked)
  File "C:\Python36\lib\http\client.py", line 1026, in _send_output
    self.send(msg)
  File "C:\Python36\lib\http\client.py", line 964, in send
    self.connect()
  File "C:\Python36\lib\http\client.py", line 936, in connect
    (self.host,self.port), self.timeout, self.source_address)
  File "C:\Python36\lib\socket.py", line 722, in create_connection
    raise err
  File "C:\Python36\lib\socket.py", line 713, in create_connection
    sock.connect(sa)
ConnectionRefusedError: [WinError 10061] No connection could be made because the target machine actively refused it

Run arguments do not get passed to node executable

When attempting to pass command line arguments to a node using the ros2 run [pkg] [exec] syntax, the arguments get processed by the ros2 executable rather than the node executable being launched.

Example:

$ ros2 run ros1_bridge dynamic_bridge --help
usage: ros2 run [-h] package_name executable_name [argv [argv ...]]

Run a package specific executable

positional arguments:
  package_name     Name of the ROS package
  executable_name  Name of the executable
  argv             Pass arbitrary arguments to the executable (use '--' before
                   these arguments to ensure they are not handle by this
                   command)

optional arguments:
  -h, --help       show this help message and exit

Expected output:

$ ./install/lib/ros1_bridge/dynamic_bridge --help
Usage:
 -h, --help: This message.
 --show-introspection: Print output of introspection of both sides of the bridge.
 --print-pairs: Print a list of the supported ROS 2 <=> ROS 1 conversion pairs.
 --bridge-all-topics: Bridge all topics in both directions, whether or not there is a matching subscriber.
 --bridge-all-1to2-topics: Bridge all ROS 1 topics to ROS 2, whether or not there is a matching subscriber.
 --bridge-all-2to1-topics: Bridge all ROS 2 topics to ROS 1, whether or not there is a matching subscriber.

Although I'm sure you get the picture, here's another example:

$ ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
usage: ros2 [-h] Call `ros2 <command> -h` for more detailed usage. ...
ros2: error: unrecognized arguments: --bridge-all-topics

Add one passing just a flag:

$ ros2 run ros1_bridge dynamic_bridge -f
usage: ros2 [-h] Call `ros2 <command> -h` for more detailed usage. ...
ros2: error: unrecognized arguments: -f

Arguments that are not prefixed with one or more dashes do allow the node to get executed (although I don't have evidence at the moment that they successfully get passed to the node).

E.g., (I don't have a master running, but it runs the bridge)

$ ros2 run ros1_bridge dynamic_bridge this_is_an_argument another arg3
[ERROR] [1499788917.336544285] [/ros_bridge]: [registerPublisher] Failed to contact master at [localhost:11311].  Retrying...

Debian package requires manually sourcing ros2-argcomplete.bash/zsh

It would be good when the user sources /opt/ros/<distro>/setup.bash that the environment hook for the completion is implicitly included.

Failed to fini 'rcl_client_t' when aborting service call

Reproduce with: ros2 service call /add_two_ints example_interfaces/AddTwoInts when no server is around, then ctrl-c it after it has sent the request. I get a core dump like in https://gist.github.com/dhood/ea5efa71ad2b3fa47a8942058f2de82a:

$ ros2 service call /add_two_ints example_interfaces/AddTwoInts
requester: making request: example_interfaces.srv.AddTwoInts_Request(a=0, b=0)

^C*** Error in `/usr/bin/python3': double free or corruption (fasttop): 0x00000000031b7530 ***
======= Backtrace: =========
/lib/x86_64-linux-gnu/libc.so.6(+0x777e5)[0x7ff74a28d7e5]
/lib/x86_64-linux-gnu/libc.so.6(+0x8037a)[0x7ff74a29637a]
/lib/x86_64-linux-gnu/libc.so.6(cfree+0x4c)[0x7ff74a29a53c]
/home/dhood/ros2_ws/install_isolated/rclpy/lib/python3.5/site-packages/rclpy/_rclpy.cpython-35m-x86_64-linux-gnu.so(+0x8129)[0x7ff7477a2129]
/usr/bin/python3(PyCFunction_Call+0x4f)[0x4e9b9f]
/usr/bin/python3(PyEval_EvalFrameEx+0x614)[0x524414]
/usr/bin/python3(PyEval_EvalFrameEx+0x4a14)[0x528814]
/usr/bin/python3(PyEval_EvalCodeEx+0x13b)[0x52e12b]
/usr/bin/python3[0x4ebcc3]
/usr/bin/python3(PyObject_Call+0x47)[0x5b7167]
...

This does not occur with ros2 run demo_nodes_py add_two_ints_client but I still haven't found what the significant difference is. I even tried pasting the add_two_ints_client main in place of

ros2cli/ros2service/ros2service/verb/call.py

Line 57 in cf17fda

 return requester(args.service_type, args.service_name, args.values, args.repeat) 

but it still gives the double free error. add_two_ints_client, on the other hand, gives:

$ ros2 run demo_nodes_py add_two_ints_client
^CTraceback (most recent call last):
  File "/home/dhood/ros2_ws/install_isolated/demo_nodes_py/lib/demo_nodes_py/add_two_ints_client", line 11, in <module>
    load_entry_point('demo-nodes-py==0.0.0', 'console_scripts', 'add_two_ints_client')()
  File "/home/dhood/ros2_ws/install_isolated/demo_nodes_py/lib/python3.5/site-packages/demo_nodes_py/services/add_two_ints_client.py", line 39, in main
    node.destroy_node()
  File "/home/dhood/ros2_ws/install_isolated/rclpy/lib/python3.5/site-packages/rclpy/node.py", line 266, in destroy_node
    _rclpy.rclpy_destroy_node_entity(cli.client_handle, self.handle)
RuntimeError: Failed to fini 'rcl_client_t': rcl node is invalid, rcl instance id does not match, at /home/dhood/ros2_ws/src/ros2/rcl/rcl/src/rcl/node.c:374
Exception ignored in: <bound method Node.__del__ of <rclpy.node.Node object at 0x7fb28263ce80>>
Traceback (most recent call last):
  File "/home/dhood/ros2_ws/install_isolated/rclpy/lib/python3.5/site-packages/rclpy/node.py", line 295, in __del__
    self.destroy_node()
  File "/home/dhood/ros2_ws/install_isolated/rclpy/lib/python3.5/site-packages/rclpy/node.py", line 266, in destroy_node
    _rclpy.rclpy_destroy_node_entity(cli.client_handle, self.handle)
RuntimeError: Failed to fini 'rcl_client_t': rcl node is invalid, rcl instance id does not match, at /home/dhood/ros2_ws/src/ros2/rcl/rcl/src/rcl/node.c:374

Perhaps ros2 service call doesn't manage to catch the exceptions which is how it gets into trouble.

This specific error will probably go away when we use wait for service, but I'm opening this because conceptually there might be something off if the command line tools give different behaviour to the demos that do the same.

[debs] Calling ros2 without having sourced setup file gives traceback

With ros2 packages from debians, without having sourced the r2b2/setup.bash, the ros2 console script is on the path but not the rest of ros2cli. So, if you haven't sourced the setup.bash, you get:

<new terminal>
root@87c44666d4d5:/# ros2 run demo_nodes_py talker_qos
Traceback (most recent call last):
  File "/usr/bin/ros2", line 5, in <module>
    from pkg_resources import load_entry_point
  File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 2927, in <module>
    @_call_aside
  File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 2913, in _call_aside
    f(*args, **kwargs)
  File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 2940, in _initialize_master_working_set
    working_set = WorkingSet._build_master()
  File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 635, in _build_master
    ws.require(__requires__)
  File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 943, in require
    needed = self.resolve(parse_requirements(requirements))
  File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 829, in resolve
    raise DistributionNotFound(req, requirers)
pkg_resources.DistributionNotFound: The 'ros2cli==0.0.0' distribution was not found and is required by the application
root@87c44666d4d5:/# . /opt/ros/r2b2/setup.bash 
root@87c44666d4d5:/# ros2 run demo_nodes_py talker_qos
Best effort publisher
Publishing: "Hello World: 0"
Publishing: "Hello World: 1"
Publishing: "Hello World: 2"

I understand that the console script is auto-generated, but if there's a way around this it will improve user experience since I expect this to happen to people quite often.

`ros2 pkg create` traceback on windows

Bug report

Required Info:

Operating System:
- Windows 10
Installation type:
- binaries
Version or commit hash:
- https://ci.ros2.org/view/packaging/job/packaging_windows/1043/
DDS implementation:
- fastrtps, opensplice, connext
Client library (if applicable):
- N/A

Steps to reproduce issue

ros2 pkg create a_new_package

Expected behavior

Not sure, but the help text from ros2 pkg create -h seems to indicate this is a valid call.

Actual behavior

>ros2 pkg create a_new_package
Traceback (most recent call last):
  File "C:\dev\ros2-windows\Scripts\ros2-script.py", line 11, in <module>
    load_entry_point('ros2cli==0.4.0', 'console_scripts', 'ros2')()
  File "C:\dev\ros2-windows\Lib\site-packages\ros2cli\cli.py", line 69, in main
    rc = extension.main(parser=parser, args=args)
  File "C:\dev\ros2-windows\Lib\site-packages\ros2pkg\command\pkg.py", line 39, in main
    return extension.main(args=args)
  File "C:\dev\ros2-windows\Lib\site-packages\ros2pkg\verb\create.py", line 88, in main
    stdout=subprocess.PIPE)
  File "c:\python36\lib\subprocess.py", line 709, in __init__
    restore_signals, start_new_session)
  File "c:\python36\lib\subprocess.py", line 997, in _execute_child
    startupinfo)
FileNotFoundError: [WinError 2] The system cannot find the file specified

Additional information

TypeError if there are no topics being published

I love this program 😀 !! it's awesome! But maybe I'm doing something wrong, but if nobody is publishing anything and I type ros2 topic list, I get this:

mquigley@feather2:~/ros2$ ros2 topic list 
Traceback (most recent call last):
  File "/home/mquigley/ros2/install/bin/ros2", line 9, in <module>
    load_entry_point('ros2cli', 'console_scripts', 'ros2')()
  File "/home/mquigley/ros2/build/ros2cli/ros2cli/cli.py", line 64, in main
    rc = extension.main(parser=parser, args=args)
  File "/home/mquigley/ros2/build/ros2topic/ros2topic/command/topic.py", line 38, in main
    return extension.main(args=args)
  File "/home/mquigley/ros2/build/ros2topic/ros2topic/verb/list.py", line 41, in main
    no_demangle=args.no_demangle)
  File "/home/mquigley/ros2/build/ros2topic/ros2topic/api/__init__.py", line 20, in get_topic_names_and_types
    topic_names_and_types = node.get_topic_names_and_types(no_demangle=no_demangle)
TypeError: __call__() got an unexpected keyword argument 'no_demangle'

pkg create for ament_python

There is currently no support for ament_python in ros2 pkg create. It defaults to ament_cmake, but there is no automated way to create python packages.

`ros2 daemon start` with connext creates a new window on windows 10

Bug report

Required Info:

Operating System:
- Windows 10
Installation type:
- binaries
Version or commit hash:
- https://ci.ros2.org/view/packaging/job/packaging_windows/1043/
DDS implementation:
- RTI Connext
Client library (if applicable):
- N/A

Steps to reproduce issue

set RMW_IMPLEMENTATION=rmw_connext_cpp
ros2 daemon stop
ros2 daemon start

Expected behavior

Daemon would start in background with no additional windows.

Actual behavior

A new terminal windows appears with the path to python.exe in the title.

Additional information

This only happens using connext. With opensplice and fast-rtps the daemon starts without a new window appearing.

Closing the window and then calling ros2 daemon status says the daemon is stopped, so the lifetime of the daemon appears to be tied to this new window

[ros2 topic pub / ros2 service call] Autocomplete message/service type

Feature request

Feature description

Right now these tools autopopulate the topic / service name based on the discovered topics / services, but dont populate the type.
The structure used (topic/service_names_and_types) also provides the types so we should autocomplete the type matching the selected name.

If no type matching the name is found in the structure we should apply the same logic as the service/message completer used for ros2msg/ros2srv to complete based on the interfaces installed on the system

Implementation considerations

Unable to pass options to daemon command

@dirk-thomas I can't see/use any of the arguments listed in https://github.com/ros2/ros2cli/blob/3514151736746bf50cb04912b68dbd2e60d25e88/ros2cli/ros2cli/daemon/__init__.py with the daemon commands.

Is this the expected usage?

$ ros2 daemon start --rmw-implementation rmw_fastrtps_cpp --timeout 30 --ros-domain-id 70
usage: ros2 [-h] Call `ros2 <command> -h` for more detailed usage. ...
ros2: error: unrecognized arguments: --rmw-implementation rmw_fastrtps_cpp --timeout 30 --ros-domain-id 70

$ ros2 daemon -h
usage: ros2 daemon [-h]
                   Call `ros2 daemon <command> -h` for more detailed usage.
                   ...

Various daemon related sub-commands

optional arguments:
  -h, --help            show this help message and exit

Commands:
  start   Start the daemon if it isn't running
  status  Output the status of the daemon
  stop    Stop the daemon if it is running

  Call `ros2 daemon <command> -h` for more detailed usage.

$ ros2 daemon start -h
usage: ros2 daemon start [-h]

Start the daemon if it isn't running

optional arguments:
  -h, --help  show this help message and exit

using an archive on os x

ros2 node list doesn't include node namespace

Requires ros2/rmw#142

I first noticed this running a node with a remapped namespace, but it also happens if I hard-code a namespace. It happens:

hard-coded or using static remapping
if the node uses rclcpp or rclpy
for a daemon using connext, fastrtps, or opensplice.

E.g.:

$ ros2 run demo_nodes_cpp talker  # (modified to use hard-coded namespace)
[INFO] [my_ns.talker]: Publishing: 'Hello World: 1'

$ ros2 node list
talker

I would consider this a bug because I expected the output to include the node's namespace, unless we are aware that this is not supported?

non determinstic behavior on daemon stop

Working to reproduce #72 I've been bringing up and down the daemon a lot. I ran into this sequence where the daemon failed to stop but didn't report as such.

Possibly we need similar behavior to #71 on stop too?

C:\Users\OSRF\Downloads\ardent_opensplice\ros2-windows>ros2 daemon status
The daemon is running

C:\Users\OSRF\Downloads\ardent_opensplice\ros2-windows>ros2 node list

C:\Users\OSRF\Downloads\ardent_opensplice\ros2-windows>ros2 node list

C:\Users\OSRF\Downloads\ardent_opensplice\ros2-windows>ros2 daemon stop
The daemon has been stopped

C:\Users\OSRF\Downloads\ardent_opensplice\ros2-windows>ros2 daemon status
The daemon is running

C:\Users\OSRF\Downloads\ardent_opensplice\ros2-windows>ros2 daemon status
The daemon is running

C:\Users\OSRF\Downloads\ardent_opensplice\ros2-windows>ros2 daemon stop
The daemon has been stopped

C:\Users\OSRF\Downloads\ardent_opensplice\ros2-windows>ros2 daemon status
The daemon is not running

C:\Users\OSRF\Downloads\ardent_opensplice\ros2-windows>

[ros2 topic pub] Cannot send strings containing single quotes

Without quotes: OK

$ ros2 topic pub /chatter std_msgs/String '{"data":"Hello World"}'
publisher: beginning loop
publishing std_msgs.msg.String(data='Hello World'

With escaped double quotes: OK

$ ros2 topic pub /chatter std_msgs/String '{"data":"Hello\"World"}'
publisher: beginning loop
publishing std_msgs.msg.String(data='Hello"World')

With unescaped single quotes: Doesn't work

$ ros2 topic pub /chatter std_msgs/String '{"data":"Hello'World"}'
>

With unescaped single quotes: Doesn't work

$ ros2 topic pub /chatter std_msgs/String '{"data":"Hello\'World"}'
>

pyyaml dependency in ros2 topic echo

I didn't have pyyaml installed and got this error:

$ ros2 run demos_nodes_cpp listener
Failed to load entry point 'echo': No module named 'yaml'

I am adding python3 -m pip install pyyaml to the installation instructions, but I noticed it's not listed in the setup.py for ros2topic where I think it should be. Is that correct?

r2b3 ros2param crashes with `list /`

Bug report

Required Info:

Operating System:
- Windows 10,
Installation type:
- http://ci.ros2.org/view/packaging/job/packaging_windows/728/artifact/ws/ros2-package-windows-AMD64.zip
Version or commit hash:
- def304b4270b6b935b7d6fbbf7671634c2532452
DDS implementation:
- Fast-RTPS
Client library (if applicable):
- N/A

Steps to reproduce issue

ros2 run demo_nodes_cpp ros2param -- list /

Expected behavior

Not sure.

Actual behavior

ros2param.exe has stopped working

Additional information

Not from source, so unable to get a meaningful stack trace.

`ros2 topic echo` Crashes when using opensplice

Bug report

Required Info:

Operating System:
- Windows 10
Installation type:
- binaries
Version or commit hash:
- https://ci.ros2.org/view/packaging/job/packaging_windows/1043/
DDS implementation:
- rmw_opensplice_cpp
Client library (if applicable):
- N/A

Steps to reproduce issue

REM Make sure daemon is using opensplice
set RMW_IMPLEMENTATION=rmw_opensplice_cpp
ros2 daemon stop
ros2 daemon start
ros2 run demo_nodes_cpp talker

REM in another terminal
ros2 topic echo chatter

Expected behavior

Messages would be echo'd on second terminal

Actual behavior

>ros2 topic echo chatter
========================================================================================
Context     : DDS::WaitSet::detach_condition
Date        : Fri Jun 22 16:01:21 Pacific Daylight Time 2018
Node        : DESKTOP-S5KSNBT
Process     : python.exe <4384>
Thread      : 1544
Internals   : WaitSet.cpp/456/6.7.180404OSS/5926d257/5926d257/-1
----------------------------------------------------------------------------------------
Report      : Precondition not met: This ReadCondition is being deleted.
Internals   : DDS::OpenSplice::ReadCondition::wlReq_detachFromWaitset/ReadCondition.cpp/176/4/1529708482.015405000
Failed to wait on wait set: failed to detach guard condition, at C:\J\workspace\packaging_windows\ws\src\ros2\rmw_opensplice\rmw_opensplice_cpp\src\rmw_wait.cpp:282, at C:\J\workspace\packaging_windows\ws\src\ros2\rcl\rcl\src\rcl\wait.c:647

Additional information

Blank lines / "(no name)" in output of ros2 node list

Not a major issue but something we should look into eventually:

built from source with fastrtps on linux:

<ros2 run demo_nodes_cpp add_two_ints_server>
dhood@osrf-esteve:~/ros2_ardent [ros2_ardent]$ ros2 node list
add_two_ints_server
<kill server node>
dhood@osrf-esteve:~/ros2_ardent [ros2_ardent]$ ros2 node list




<start it again>
dhood@osrf-esteve:~/ros2_ardent [ros2_ardent]$ ros2 node list




add_two_ints_server
<kill it again>
dhood@osrf-esteve:~/ros2_ardent [ros2_ardent]$ ros2 node list



dhood@osrf-esteve:~/ros2_ardent [ros2_ardent]$

built from source with connext on osx:

$ RMW_IMPLEMENTATION=rmw_connext_cpp ros2 node list
REDAWorker_enterExclusiveArea:worker U00007fff7a779300 deadlock risk: cannot enter 0x7fa690f9c770 of level 40 from level 40
REDACursor_modifyReadWriteArea:!enter worker (U00007fff7a779300)'s exclusive area
PRESPsService_removeRemoteEndpoint:!modify pres psRemoteWriter
REDAWorker_enterExclusiveArea:worker U00007fff7a779300 deadlock risk: cannot enter 0x7fa690f9c770 of level 40 from level 40
REDACursor_modifyReadWriteArea:!enter worker (U00007fff7a779300)'s exclusive area
PRESPsService_removeRemoteEndpoint:!modify pres psRemoteReader
add_two_ints_server
(no name)
(no name)
(no name)
(no name)

the (no name) output comes from this line in rmw_connext_cpp:
https://github.com/ros2/rmw_connext/blob/efaf513a5f9303216670ed76b5060ed5b8f958e5/rmw_connext_shared_cpp/src/node_names.cpp#L76

Perhaps this equivalent in fastrtps can return empty names: https://github.com/ros2/rmw_fastrtps/blob/3e5edb3316e2aee325e9354549e54c999a89bca9/rmw_fastrtps_cpp/src/rmw_node_names.cpp#L56

I haven't seen opensplice output empty lines.

ros2 topic echo cannot determine type for a non FQN topic

Bug report

Required Info:

Operating System:
- Windows 10
Installation type:
- http://ci.ros2.org/view/packaging/job/packaging_windows/732/
Version or commit hash:
- def304b4270b6b935b7d6fbbf7671634c2532452
DDS implementation:
- Fast-RTPS
Client library (if applicable):
- N/A

Steps to reproduce issue

In one terminal

ros2 topic pub /test_topic std_msgs/String "{data: Hello world}"

In another

ros2 topic echo test_topic

Expected behavior

I'd expect a subscription to /test_topic

Actual behavior

C:\Users\osrf>ros2 topic echo test_topic
Could not determine the type for the passed topic

Additional information

Giving a fully qualified name works

C:\Users\osrf>ros2 topic echo /test_topic
data: Hello world

I'd expect test_topic to be expanded to /test_topic and have the same behavior as if a FQN had been provided.
http://design.ros2.org/articles/topic_and_service_names.html

daemon prevents cmd.exe from closing on Windows

After running a ros2 topic ... command in a command prompt on Windows, the command prompt will hang when you type exit. This is because the daemon is somehow still attached to the command prompt I think.

This isn't a great user experience, and I wouldn't have know without deep knowledge about what's going on. I'm not sure if we can run the daemon in a way that avoids this or not, but it would be good if we could.

ros2 topic list needs an option for pub/sub counts

Please add an option to show the number of publishers and subscribers on each topic as part listing them.

Can't tell daemon which RMW implementation to use

I am debugging something and want to switch rmw implementation for the new CLI tools.

I noticed RMW_IMPLEMENTATION=rmw_connext_cpp ros2 node list was not outputting the connext license. I figured it was because of ros2/rmw_implementation#23 and that it was using fastrtps underneath.

However, I have built with connext support, and even the following doesn't output the connext license:

RMW_IMPLEMENTATION=rmw_connext_cpp RCL_ASSERT_RMW_ID_MATCHES=rmw_connext_cpp ros2 node list

@wjwwood told me this is because the daemon is started once and then not communicated to using DDS, so the assertion is never checked anywhere.

Ideally I would expect RMW_IMPLEMENTATION=rmw_connext_cpp ros2 node list to use connext. But at the very least I would expect it to not ignore the RCL_ASSERT_RMW_ID_MATCHES=rmw_connext_cpp environment variable.

I understand why this happens, it's just misleading as a user expecting to have control over those things like for other participants.

ros2 pkg create: resource files not installed

How have people been testing ros2 pkg create? I tried to run it but the templates aren't installed so I get:

$ ros2 pkg create dummy_package --license asdf
going to create a new package
package name: dummy_package
destination directory: /tmp
package format: 2
version: 0.0.0
description: TODO: Package description
maintainer: ['dhood <[email protected]>']
licenses: ['asdf']
build type: ament_cmake
dependencies: []
creating folder ./dummy_package
Traceback (most recent call last):
  File "/home/dhood/ros2_ws/install_isolated/ros2cli/bin/ros2", line 11, in <module>
    load_entry_point('ros2cli==0.4.0', 'console_scripts', 'ros2')()
  File "/home/dhood/ros2_ws/install_isolated/ros2cli/lib/python3.5/site-packages/ros2cli/cli.py", line 69, in main
    rc = extension.main(parser=parser, args=args)
  File "/home/dhood/ros2_ws/install_isolated/ros2pkg/lib/python3.5/site-packages/ros2pkg/command/pkg.py", line 39, in main
    return extension.main(args=args)
  File "/home/dhood/ros2_ws/install_isolated/ros2pkg/lib/python3.5/site-packages/ros2pkg/verb/create.py", line 154, in main
    create_package_environment(package, args.destination_directory)
  File "/home/dhood/ros2_ws/install_isolated/ros2pkg/lib/python3.5/site-packages/ros2pkg/api/create.py", line 97, in create_package_environment
    package_xml_config)
  File "/home/dhood/ros2_ws/install_isolated/ros2pkg/lib/python3.5/site-packages/ros2pkg/api/create.py", line 71, in _create_template_file
    raise FileNotFoundError('template not found:', template_path)
FileNotFoundError: [Errno template not found:] /home/dhood/ros2_ws/install_isolated/ros2pkg/lib/python3.5/site-packages/ros2pkg/resource/package_environment/package.xml.em

Do I need to run it from a particular directory or anything? Or do we just need to install the resource files (I don't see how they are being installed currently).

I am posing this as a question because it might be user error, given that I am the first one to run into it when it seems that others were testing it out in #42

Argument completion doesn't work with Xenial python3-argcomplete installed

It does work if we install argcomplete from pip. It is probably worthwhile to explore why this is and if we can make it work with the Xenial argcomplete.

ros2 topic fail to echo PointCloud2 msg

When I try to use big data message by python code such as Camera Image or PointCloud2 on ROS2, I found the performance is terrible.
Problem:
Launch ros2_intel_realsense 2 by realsense_ros2_camera, and subscribe “/camera/depth/color/points” by “ros2 topic echo /camera/depth/color/points”. It will cost dozens of seconds to print out the PointCloud2 (640x480) data. On ros 1, rostopic shows data immediately.

Then I have wrote test code rttest_sample 2 to publish PointCloud2 on topic /rttest_sample. the result is:
Set data size as 64x48, “ros2 topic echo /rttest_sample” works.
Set data size as 640x48, “ros2 topic echo /rttest_sample” cost ~10s.
Set data size as 640x480, “ros2 topic echo /rttest_sample” cost more than 60s.

Issue discussing here: https://discourse.ros.org/t/image-and-pointcloud2-performance-on-ros2/5391

Flaky crash at shutdown using subscriber_old_school

Bug report

Required Info:

Operating System:
- Windows 10
Installation type:
- binaries
Version or commit hash:
- https://ci.ros2.org/view/packaging/job/packaging_windows/1046/
DDS implementation:
- opensplice
Client library (if applicable):
- rclpy

Steps to reproduce issue

Run subscriber old school

ros2 run examples_rclpy_minimal_subscriber subscriber_old_school

CTRL + c. Sometimes there is a crash instead of a clean shutdown.

Expected behavior

Executable would shut down cleanly.

Actual behavior

C:\dev\ros2-windows>ros2 run examples_rclpy_minimal_subscriber subscriber_old_school
[INFO] [minimal_subscriber]: I heard: "Hello World: 64"
[INFO] [minimal_subscriber]: I heard: "Hello World: 65"
[INFO] [minimal_subscriber]: I heard: "Hello World: 66"
[INFO] [minimal_subscriber]: I heard: "Hello World: 0"
[INFO] [minimal_subscriber]: I heard: "Hello World: 1"
[INFO] [minimal_subscriber]: I heard: "Hello World: 2"
[INFO] [minimal_subscriber]: I heard: "Hello World: 0"
[INFO] [minimal_subscriber]: I heard: "Hello World: 1"
[INFO] [minimal_subscriber]: I heard: "Hello World: 2"
========================================================================================
Context     : DDS::WaitSet::wait
Date        : Mon Jun 25 17:50:55 Pacific Daylight Time 2018
Node        : DESKTOP-S5KSNBT
Process     : python.exe <3116>
Thread      : 2992
Internals   : WaitSet.cpp/252/6.7.180404OSS/5926d257/5926d257/-1
----------------------------------------------------------------------------------------
Report      : Already deleted: Object is already deleted.
Internals   : DDS::OpenSplice::CppSuperClass::check/CppSuperClass.cpp/232/9/1529974255.092807600
----------------------------------------------------------------------------------------
Report      : Precondition not met: Waitset is already deleted
Internals   : u_waitsetWaitAction2/u_waitset.c/333/782/1529974255.102913900

Additional information

[ros2 topic pub][ros2 service call] Cannot populate nested arrays

Bug report

Steps to reproduce issue

ros2 topic pub /chatter test_msgs/DynamicArrayNested "{primitive_values: [{string_value: 'foo', int8_value: 42}]}"

Expected behavior

Populate and send a DynamicArrayNested message with the following content:

test_msgs.msg.DynamicArrayNested(primitive_values=[test_msgs.msg.Primitives(bool_value=False, byte_value=b'\x00', char_value='\x00', float32_value=0.0, float64_value=0.0, int8_value=42, uint8_value=0, int16_value=0, uint16_value=0, int32_value=0, uint32_value=0, int64_value=0, uint64_value=0, string_value='foo')])

Actual behavior

$ ros2 topic pub /chatter test_msgs/DynamicArrayNested "{primitive_values: [{string_value: 'foo', int8_value: 1}]}"
Failed to populate field 'primitive_values': The 'primitive_values' field must be a set or sequence and each value of type 'Primitives'

Additional information

The tool has currently no way of knowing what type the fields of the array should be. See ros2/rosidl#243 for more information about the features required to get this working

	metavar = 'Call `{cli_name} <command> -h` for more detailed ' \
	'usage.'.format_map(locals())
	subparser = parser.add_subparsers(
	title='Commands', description=description, metavar=metavar)