Fix errors with name of bridge not being given (gazebosim#600)

* Add argument bridge_name to fix errors

Signed-off-by: Aarav Gupta <134804732+Amronos@users.noreply.github.com>

ros_gz_bridge/launch/ros_gz_bridge.launch

@@ -1,13 +1,13 @@
 <launch>
-  <arg name="name" />
+  <arg name="bridge_name" />
   <arg name="config_file" default="" />
   <arg name="container_name" default="ros_gz_container" />
   <arg name="namespace" default="" />
   <arg name="use_composition" default="True" />
   <arg name="use_respawn" default="False" />
   <arg name="log_level" default="info" />
   <ros_gz_bridge
-    name="$(var name)"
+    bridge_name="$(var bridge_name)"
     config_file="$(var config_file)"
     container_name="$(var container_name)"
     namespace="$(var namespace)"

ros_gz_bridge/launch/ros_gz_bridge.launch.py

@@ -24,16 +24,16 @@
 
 def generate_launch_description():
 
-    name = LaunchConfiguration('name')
+    bridge_name = LaunchConfiguration('bridge_name')
     config_file = LaunchConfiguration('config_file')
     container_name = LaunchConfiguration('container_name')
     namespace = LaunchConfiguration('namespace')
     use_composition = LaunchConfiguration('use_composition')
     use_respawn = LaunchConfiguration('use_respawn')
     log_level = LaunchConfiguration('log_level')
 
-    declare_name_cmd = DeclareLaunchArgument(
-        'name', description='Name of ros_gz_bridge node'
+    declare_bridge_name_cmd = DeclareLaunchArgument(
+        'bridge_name', description='Name of ros_gz_bridge node'
     )
 
     declare_config_file_cmd = DeclareLaunchArgument(
@@ -70,7 +70,7 @@ def generate_launch_description():
             Node(
                 package='ros_gz_bridge',
                 executable='bridge_node',
-                name=name,
+                name=bridge_name,
                 namespace=namespace,
                 output='screen',
                 respawn=use_respawn,
@@ -88,7 +88,7 @@ def generate_launch_description():
             ComposableNode(
                 package='ros_gz_bridge',
                 plugin='ros_gz_bridge::RosGzBridge',
-                name=name,
+                name=bridge_name,
                 namespace=namespace,
                 parameters=[{'config_file': config_file}],
                 extra_arguments=[{'use_intra_process_comms': True}],
@@ -100,7 +100,7 @@ def generate_launch_description():
     ld = LaunchDescription()
 
     # Declare the launch options
-    ld.add_action(declare_name_cmd)
+    ld.add_action(declare_bridge_name_cmd)
     ld.add_action(declare_config_file_cmd)
     ld.add_action(declare_container_name_cmd)
     ld.add_action(declare_namespace_cmd)

ros_gz_bridge/ros_gz_bridge/actions/ros_gz_bridge.py

@@ -34,7 +34,7 @@ class RosGzBridge(Action):
     def __init__(
         self,
         *,
-        name: SomeSubstitutionsType,
+        bridge_name: SomeSubstitutionsType,
         config_file: SomeSubstitutionsType,
         container_name: Optional[SomeSubstitutionsType] = 'ros_gz_container',
         namespace: Optional[SomeSubstitutionsType] = '',
@@ -49,7 +49,7 @@ def __init__(
         All arguments are forwarded to `ros_gz_bridge.launch.ros_gz_bridge.launch.py`,
         so see the documentation of that class for further details.
 
-        :param: name Name of ros_gz_bridge  node
+        :param: bridge_name Name of ros_gz_bridge  node
         :param: config_file YAML config file.
         :param: container_name Name of container that nodes will load in if use composition.
         :param: namespace Top-level namespace.
@@ -58,7 +58,7 @@ def __init__(
         :param: log_level Log level.
         """
         super().__init__(**kwargs)
-        self.__name = name
+        self.__bridge_name = bridge_name
         self.__config_file = config_file
         self.__container_name = container_name
         self.__namespace = namespace
@@ -71,8 +71,8 @@ def parse(cls, entity: Entity, parser: Parser):
         """Parse ros_gz_bridge."""
         _, kwargs = super().parse(entity, parser)
 
-        name = entity.get_attr(
-            'name', data_type=str,
+        bridge_name = entity.get_attr(
+            'bridge_name', data_type=str,
             optional=False)
 
         config_file = entity.get_attr(
@@ -99,9 +99,9 @@ def parse(cls, entity: Entity, parser: Parser):
             'log_level', data_type=str,
             optional=True)
 
-        if isinstance(name, str):
-            name = parser.parse_substitution(name)
-            kwargs['name'] = name
+        if isinstance(bridge_name, str):
+            bridge_name = parser.parse_substitution(bridge_name)
+            kwargs['bridge_name'] = bridge_name
 
         if isinstance(config_file, str):
             config_file = parser.parse_substitution(config_file)
@@ -136,7 +136,7 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
                 [PathJoinSubstitution([FindPackageShare('ros_gz_bridge'),
                                        'launch',
                                        'ros_gz_bridge.launch.py'])]),
-            launch_arguments=[('name', self.__name),
+            launch_arguments=[('bridge_name', self.__bridge_name),
                               ('config_file', self.__config_file),
                               ('container_name', self.__container_name),
                               ('namespace',   self.__namespace),

ros_gz_sim/launch/gz_spawn_model.launch

@@ -3,7 +3,7 @@
   <arg name="file" default="" />
   <arg name="xml_string" default="" />
   <arg name="topic" default="" />
-  <arg name="name" default="" />
+  <arg name="entity_name" default="" />
   <arg name="allow_renaming" default="False" />
   <arg name="x" default="" />
   <arg name="y" default="" />
@@ -16,7 +16,7 @@
     file="$(var file)"
     xml_string="$(var xml_string)"
     topic="$(var topic)"
-    name="$(var name)"
+    entity_name="$(var entity_name)"
     allow_renaming="$(var allow_renaming)"
     x="$(var x)"
     y="$(var y)"

ros_gz_sim/launch/gz_spawn_model.launch.py

@@ -26,7 +26,7 @@ def generate_launch_description():
     file = LaunchConfiguration('file')
     xml_string = LaunchConfiguration('string')
     topic = LaunchConfiguration('topic')
-    name = LaunchConfiguration('name')
+    entity_name = LaunchConfiguration('entity_name')
     allow_renaming = LaunchConfiguration('allow_renaming')
     x = LaunchConfiguration('x', default='0.0')
     y = LaunchConfiguration('y', default='0.0')
@@ -50,8 +50,8 @@ def generate_launch_description():
         'topic', default_value=TextSubstitution(text=''),
         description='Get XML from this topic'
     )
-    declare_name_cmd = DeclareLaunchArgument(
-        'name', default_value=TextSubstitution(text=''),
+    declare_entity_name_cmd = DeclareLaunchArgument(
+        'entity_name', default_value=TextSubstitution(text=''),
         description='Name of the entity'
     )
     declare_allow_renaming_cmd = DeclareLaunchArgument(
@@ -67,7 +67,7 @@ def generate_launch_description():
                      'file': file,
                      'string': xml_string,
                      'topic': topic,
-                     'name': name,
+                     'name': entity_name,
                      'allow_renaming': allow_renaming,
                      'x': x,
                      'y': y,
@@ -86,7 +86,7 @@ def generate_launch_description():
     ld.add_action(declare_file_cmd)
     ld.add_action(declare_xml_string_cmd)
     ld.add_action(declare_topic_cmd)
-    ld.add_action(declare_name_cmd)
+    ld.add_action(declare_entity_name_cmd)
     ld.add_action(declare_allow_renaming_cmd)
     # Add the actions to launch all of the create nodes
     ld.add_action(load_nodes)

ros_gz_sim/launch/ros_gz_sim.launch

@@ -1,5 +1,5 @@
 <launch>
-  <arg name="name" />
+  <arg name="bridge_name" />
   <arg name="config_file" default="" />
   <arg name="container_name" default="ros_gz_container" />
   <arg name="namespace" default="" />
@@ -15,7 +15,7 @@
     use_composition="$(var use_composition)">
   </gz_server>
   <ros_gz_bridge
-    name="$(var name)"
+    bridge_name="$(var bridge_name)"
     config_file="$(var config_file)"
     container_name="$(var container_name)"
     namespace="$(var namespace)"

ros_gz_sim/launch/ros_gz_sim.launch.py

@@ -23,6 +23,7 @@
 
 def generate_launch_description():
 
+    bridge_name = LaunchConfiguration('bridge_name')
     config_file = LaunchConfiguration('config_file')
     container_name = LaunchConfiguration('container_name')
     namespace = LaunchConfiguration('namespace')
@@ -33,6 +34,10 @@ def generate_launch_description():
     world_sdf_file = LaunchConfiguration('world_sdf_file')
     world_sdf_string = LaunchConfiguration('world_sdf_string')
 
+    declare_bridge_name_cmd = DeclareLaunchArgument(
+        'bridge_name', default_value='', description='Name of the bridge'
+    )
+
     declare_config_file_cmd = DeclareLaunchArgument(
         'config_file', default_value='', description='YAML config file'
     )
@@ -76,7 +81,8 @@ def generate_launch_description():
             [PathJoinSubstitution([FindPackageShare('ros_gz_bridge'),
                                    'launch',
                                    'ros_gz_bridge.launch.py'])]),
-        launch_arguments=[('config_file', config_file),
+        launch_arguments=[('bridge_name', bridge_name),
+                          ('config_file', config_file),
                           ('container_name', container_name),
                           ('namespace', namespace),
                           ('use_composition', use_composition),
@@ -96,6 +102,7 @@ def generate_launch_description():
     ld = LaunchDescription()
 
     # Declare the launch options
+    ld.add_action(declare_bridge_name_cmd)
     ld.add_action(declare_config_file_cmd)
     ld.add_action(declare_container_name_cmd)
     ld.add_action(declare_namespace_cmd)

ros_gz_sim/launch/ros_gz_spawn_model.launch.py

@@ -23,6 +23,7 @@
 
 def generate_launch_description():
 
+    bridge_name = LaunchConfiguration('bridge_name')
     config_file = LaunchConfiguration('config_file')
     container_name = LaunchConfiguration('container_name')
     namespace = LaunchConfiguration('namespace')
@@ -34,7 +35,7 @@ def generate_launch_description():
     file = LaunchConfiguration('file')
     xml_string = LaunchConfiguration('string')
     topic = LaunchConfiguration('topic')
-    name = LaunchConfiguration('name')
+    entity_name = LaunchConfiguration('entity_name')
     allow_renaming = LaunchConfiguration('allow_renaming')
     x = LaunchConfiguration('x', default='0.0')
     y = LaunchConfiguration('y', default='0.0')
@@ -43,6 +44,10 @@ def generate_launch_description():
     pitch = LaunchConfiguration('P', default='0.0')
     yaw = LaunchConfiguration('Y', default='0.0')
 
+    declare_bridge_name_cmd = DeclareLaunchArgument(
+        'bridge_name', default_value='', description='Name of the bridge'
+    )
+
     declare_config_file_cmd = DeclareLaunchArgument(
         'config_file', default_value='', description='YAML config file'
     )
@@ -90,8 +95,8 @@ def generate_launch_description():
         description='Get XML from this topic'
     )
 
-    declare_name_cmd = DeclareLaunchArgument(
-        'name', default_value=TextSubstitution(text=''),
+    declare_entity_name_cmd = DeclareLaunchArgument(
+        'entity_name', default_value=TextSubstitution(text=''),
         description='Name of the entity'
     )
 
@@ -105,7 +110,8 @@ def generate_launch_description():
             [PathJoinSubstitution([FindPackageShare('ros_gz_bridge'),
                                    'launch',
                                    'ros_gz_bridge.launch.py'])]),
-        launch_arguments=[('config_file', config_file),
+        launch_arguments=[('bridge_name', bridge_name),
+                          ('config_file', config_file),
                           ('container_name', container_name),
                           ('namespace', namespace),
                           ('use_composition', use_composition),
@@ -121,20 +127,20 @@ def generate_launch_description():
                           ('file', file),
                           ('xml_string', xml_string),
                           ('topic', topic),
-                          ('name', name),
+                          ('entity_name', entity_name),
                           ('allow_renaming', allow_renaming),
                           ('x', x),
                           ('y', y),
                           ('z', z),
                           ('R', roll),
                           ('P', pitch),
-                          ('Y', yaw),
-                          ('use_composition', use_composition), ])
+                          ('Y', yaw), ])
 
     # Create the launch description and populate
     ld = LaunchDescription()
 
     # Declare the launch options
+    ld.add_action(declare_bridge_name_cmd)
     ld.add_action(declare_config_file_cmd)
     ld.add_action(declare_container_name_cmd)
     ld.add_action(declare_namespace_cmd)
@@ -145,7 +151,7 @@ def generate_launch_description():
     ld.add_action(declare_file_cmd)
     ld.add_action(declare_xml_string_cmd)
     ld.add_action(declare_topic_cmd)
-    ld.add_action(declare_name_cmd)
+    ld.add_action(declare_entity_name_cmd)
     ld.add_action(declare_allow_renaming_cmd)
     # Add the actions to launch all of the bridge + spawn_model nodes
     ld.add_action(bridge_description)

ros_gz_sim/ros_gz_sim/actions/gz_spawn_model.py

@@ -38,7 +38,7 @@ def __init__(
         file: Optional[SomeSubstitutionsType] = None,
         xml_string: Optional[SomeSubstitutionsType] = None,
         topic: Optional[SomeSubstitutionsType] = None,
-        name: Optional[SomeSubstitutionsType] = None,
+        entity_name: Optional[SomeSubstitutionsType] = None,
         allow_renaming: Optional[SomeSubstitutionsType] = None,
         x: Optional[SomeSubstitutionsType] = None,
         y: Optional[SomeSubstitutionsType] = None,
@@ -58,7 +58,7 @@ def __init__(
         :param: file SDF filename.
         :param: xml_string XML string.
         :param: topic Get XML from this topic.
-        :param: name Name of the entity.
+        :param: entity_name Name of the entity.
         :param: allow_renaming Whether the entity allows renaming or not.
         :param: x X coordinate.
         :param: y Y coordinate.
@@ -72,7 +72,7 @@ def __init__(
         self.__file = file
         self.__xml_string = xml_string
         self.__topic = topic
-        self.__name = name
+        self.__entity_name = entity_name
         self.__allow_renaming = allow_renaming
         self.__x = x
         self.__y = y
@@ -102,8 +102,8 @@ def parse(cls, entity: Entity, parser: Parser):
             'topic', data_type=str,
             optional=True)
 
-        name = entity.get_attr(
-            'name', data_type=str,
+        entity_name = entity.get_attr(
+            'entity_name', data_type=str,
             optional=True)
 
         allow_renaming = entity.get_attr(
@@ -150,9 +150,9 @@ def parse(cls, entity: Entity, parser: Parser):
             topic = parser.parse_substitution(topic)
             kwargs['topic'] = topic
 
-        if isinstance(name, str):
-            name = parser.parse_substitution(name)
-            kwargs['name'] = name
+        if isinstance(entity_name, str):
+            entity_name = parser.parse_substitution(entity_name)
+            kwargs['entity_name'] = entity_name
 
         if isinstance(allow_renaming, str):
             allow_renaming = parser.parse_substitution(allow_renaming)
@@ -195,7 +195,7 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
                               ('file', self.__file),
                               ('xml_string',   self.__xml_string),
                               ('topic',  self.__topic),
-                              ('name', self.__name),
+                              ('entity_name', self.__entity_name),
                               ('allow_renaming', self.__allow_renaming),
                               ('x',   self.__x),
                               ('y',  self.__y),