Use create_own_container

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>

ros_gz_bridge/launch/ros_gz_bridge.launch

@@ -2,14 +2,16 @@
   <arg name="bridge_name" />
   <arg name="config_file" />
   <arg name="container_name" default="ros_gz_container" />
+  <arg name="create_own_container" default="False" />
   <arg name="namespace" default="" />
-  <arg name="use_composition" default="True" />
+  <arg name="use_composition" default="False" />
   <arg name="use_respawn" default="False" />
   <arg name="log_level" default="info" />
   <ros_gz_bridge
     bridge_name="$(var bridge_name)"
     config_file="$(var config_file)"
     container_name="$(var container_name)"
+    create_own_container="$(var create_own_container)"
     namespace="$(var namespace)"
     use_composition="$(var use_composition)"
     use_respawn="$(var use_respawn)"

ros_gz_bridge/launch/ros_gz_bridge.launch.py

@@ -27,7 +27,7 @@ def generate_launch_description():
     bridge_name = LaunchConfiguration('bridge_name')
     config_file = LaunchConfiguration('config_file')
     container_name = LaunchConfiguration('container_name')
-    start_container = LaunchConfiguration('start_container')
+    create_own_container = LaunchConfiguration('create_own_container')
     namespace = LaunchConfiguration('namespace')
     use_composition = LaunchConfiguration('use_composition')
     use_respawn = LaunchConfiguration('use_respawn')
@@ -47,8 +47,8 @@ def generate_launch_description():
         description='Name of container that nodes will load in if use composition',
     )
 
-    declare_start_container_cmd = DeclareLaunchArgument(
-        'start_container',
+    declare_create_own_container_cmd = DeclareLaunchArgument(
+        'create_own_container',
         default_value='False',
         description='Whether to start a ROS container when using composition',
     )
@@ -58,7 +58,7 @@ def generate_launch_description():
     )
 
     declare_use_composition_cmd = DeclareLaunchArgument(
-        'use_composition', default_value='True', description='Use composed bringup if True'
+        'use_composition', default_value='False', description='Use composed bringup if True'
     )
 
     declare_use_respawn_cmd = DeclareLaunchArgument(
@@ -89,7 +89,7 @@ def generate_launch_description():
     )
 
     load_composable_nodes_with_container = ComposableNodeContainer(
-        condition=IfCondition(PythonExpression([use_composition, ' and ', start_container])),
+        condition=IfCondition(PythonExpression([use_composition, ' and ', create_own_container])),
         name=LaunchConfiguration('container_name'),
         namespace='',
         package='rclcpp_components',
@@ -108,7 +108,7 @@ def generate_launch_description():
     )
 
     load_composable_nodes_without_container = LoadComposableNodes(
-        condition=IfCondition(PythonExpression([use_composition, ' and not ', start_container])),
+        condition=IfCondition(PythonExpression([use_composition, ' and not ', create_own_container])),
         target_container=container_name,
         composable_node_descriptions=[
             ComposableNode(
@@ -130,7 +130,7 @@ def generate_launch_description():
     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_start_container_cmd)
+    ld.add_action(declare_create_own_container_cmd)
     ld.add_action(declare_namespace_cmd)
     ld.add_action(declare_use_composition_cmd)
     ld.add_action(declare_use_respawn_cmd)

ros_gz_bridge/ros_gz_bridge/actions/ros_gz_bridge.py

@@ -37,8 +37,9 @@ def __init__(
         bridge_name: SomeSubstitutionsType,
         config_file: SomeSubstitutionsType,
         container_name: Optional[SomeSubstitutionsType] = 'ros_gz_container',
+        create_own_container: Optional[SomeSubstitutionsType] = 'False',
         namespace: Optional[SomeSubstitutionsType] = '',
-        use_composition: Optional[SomeSubstitutionsType] = 'True',
+        use_composition: Optional[SomeSubstitutionsType] = 'False',
         use_respawn: Optional[SomeSubstitutionsType] = 'False',
         log_level: Optional[SomeSubstitutionsType] = 'info',
         **kwargs
@@ -52,6 +53,7 @@ def __init__(
         :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: create_own_container Whether to start a ROS container when using composition.
         :param: namespace Top-level namespace.
         :param: use_composition Use composed bringup if True.
         :param: use_respawn Whether to respawn if a node crashes (when composition is disabled).
@@ -61,6 +63,7 @@ def __init__(
         self.__bridge_name = bridge_name
         self.__config_file = config_file
         self.__container_name = container_name
+        self.__create_own_container = create_own_container
         self.__namespace = namespace
         self.__use_composition = use_composition
         self.__use_respawn = use_respawn
@@ -83,6 +86,10 @@ def parse(cls, entity: Entity, parser: Parser):
             'container_name', data_type=str,
             optional=True)
 
+        create_own_container = entity.get_attr(
+            'create_own_container', data_type=str,
+            optional=True)
+
         namespace = entity.get_attr(
             'namespace', data_type=str,
             optional=True)
@@ -111,6 +118,10 @@ def parse(cls, entity: Entity, parser: Parser):
             container_name = parser.parse_substitution(container_name)
             kwargs['container_name'] = container_name
 
+        if isinstance(create_own_container, str):
+            create_own_container = parser.parse_substitution(create_own_container)
+            kwargs['create_own_container'] = create_own_container
+
         if isinstance(namespace, str):
             namespace = parser.parse_substitution(namespace)
             kwargs['namespace'] = namespace
@@ -139,6 +150,7 @@ def execute(self, context: LaunchContext) -> Optional[List[Action]]:
             launch_arguments=[('bridge_name', self.__bridge_name),
                               ('config_file', self.__config_file),
                               ('container_name', self.__container_name),
+                              ('create_own_container', self.__create_own_container),
                               ('namespace',   self.__namespace),
                               ('use_composition',  self.__use_composition),
                               ('use_respawn',  self.__use_respawn),