diff --git a/Pipfile b/Pipfile index f252f7c4..4cd8cb09 100644 --- a/Pipfile +++ b/Pipfile @@ -15,7 +15,7 @@ coveralls = "==2.0.0" twine = "==3.1.1" types-setuptools = "==57.0.0" types-PyYAML = "==5.4.3" -roswire = {editable = true, ref = "1de49ce8e0da926b34de45e625de8f2ef6984f3f", git = "https://github.com/rosqual/roswire"} +roswire = {editable = true, ref = "bb728404044df9a6c6d286ca0947c48816fa151c", git = "https://github.com/rosqual/roswire"} [dev-packages] flake8 = "==3.8.2" diff --git a/Pipfile.lock b/Pipfile.lock index c2b00d46..16042085 100644 --- a/Pipfile.lock +++ b/Pipfile.lock @@ -1,7 +1,7 @@ { "_meta": { "hash": { - "sha256": "85f3c9b0a00e1a108a5b0c103f978865ae1e166d96245648ede8345ec6140e43" + "sha256": "6269dc7fdee450109ff96000f1fde7f0f10ab8fab60d6710c1bb7526e4f2a213" }, "pipfile-spec": 6, "requires": { @@ -49,68 +49,73 @@ }, "certifi": { "hashes": [ - "sha256:2bbf76fd432960138b3ef6dda3dde0544f27cbf8546c458e60baf371917ba9ee", - "sha256:50b1e4f8446b06f41be7dd6338db18e0990601dce795c2b1686458aa7e8fa7d8" + "sha256:78884e7c1d4b00ce3cea67b44566851c4343c120abd683433ce934a68ea58872", + "sha256:d62a0163eb4c2344ac042ab2bdf75399a71a2d8c7d47eac2e2ee91b9d6339569" ], - 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"sha256:14475042e284991034cb48e06f6851428fb14c4dc953acd9be9a5e95c7b6dd7a", - "sha256:467fbad99067910785144ce333826c71fb0e63a425657295239737f7ecd125f3" + "sha256:84d9dd047ffa80596e0f246e2eab0b391788b0503584e8945f2368256d2735ff", + "sha256:9d643ff0a55b762d5cdb124b8eaa99c66322e2157b69160bc32796e824360e6d" ], "markers": "python_version >= '3'", - "version": "==3.2" + "version": "==3.3" }, "importlib-metadata": { "hashes": [ diff --git a/src/rosdiscover/interpreter/interpreter.py b/src/rosdiscover/interpreter/interpreter.py index 15c33b55..a6b807bf 100644 --- a/src/rosdiscover/interpreter/interpreter.py +++ b/src/rosdiscover/interpreter/interpreter.py @@ -92,7 +92,7 @@ def launch(self, launch_description: Launch) -> None: m = ("unable to determine associated launch file for " f"node: {node}") raise Exception(m) - logger.debug(f"launching node: {node.name}") + logger.debug(f"launching node: {node.name} from {node.filename}") try: args = node.args or '' remappings = {old: new for (old, new) in node.remappings} diff --git a/src/rosdiscover/recover/tool.py b/src/rosdiscover/recover/tool.py index beb44a39..ff793d5c 100644 --- a/src/rosdiscover/recover/tool.py +++ b/src/rosdiscover/recover/tool.py @@ -229,7 +229,11 @@ def _find_compile_commands_file(self, package: roswire.common.Package) -> str: ) return compile_commands_path - def _info_via_cmake(self, package: roswire.common.Package, node_name: str) -> CMakeTarget: + def _info_via_cmake( + self, + package: roswire.common.Package, + node_name: str, + ) -> CMakeTarget: assert self._app_instance cmake_info: t.Mapping[str, CMakeTarget] if self._app.description.distribution.ros == ROSVersion.ROS1: @@ -238,10 +242,18 @@ def _info_via_cmake(self, package: roswire.common.Package, node_name: str) -> CM else: ros2 = self._app_instance.ros2 cmake_info = ros2.package_node_sources(package) - if node_name not in cmake_info: + # ROSWire puts nodelets into CMakeInfo by their name, which happens to + # be a combination of package/node_name passed in via nodelet loading + # So, lookup via that + # TODO: Improve this API + nodelet_name_reference = f"{package}/{node_name}" + if node_name not in cmake_info and nodelet_name_reference not in cmake_info: logger.info(f"CMakeLists.txt contains: {str(cmake_info.keys())}") raise ValueError(f"{node_name} is not in the CMakeLists.txt of package '{package.name}") - node_source_info = cmake_info[node_name] + if node_name in cmake_info: + node_source_info = cmake_info[node_name] + else: + node_source_info = cmake_info[nodelet_name_reference] if node_source_info.language != SourceLanguage.CXX: raise NotImplementedError("Can only recover node information for C++ nodes") logger.info(f"Recovered sources for {node_name} as {str(node_source_info.sources)}")