Consistent node naming across ros2cli tools (#60)

* Passing CLI_NODE_NAME_PREFIX from ros2cli and using it to start the nodes with appropriate naming.

* Passing CLI_NODE_NAME_PREFIX from ros2cli and using it to start the nodes with appropriate naming.

* Fixing linter errors.

* Renaming CLI_NODE_NAME_PREFIX -> NODE_NAME_PREFIX

ros2bag/ros2bag/verb/play.py

@@ -15,7 +15,7 @@
 import os
 
 from ros2bag.verb import VerbExtension
-
+from ros2cli.node import NODE_NAME_PREFIX
 from rosbag2_transport import rosbag2_transport_py
 
 
@@ -42,4 +42,5 @@ def main(self, *, args):  # noqa: D102
         rosbag2_transport_py.play(
             uri=bag_file,
             storage_id=args.storage,
+            node_prefix=NODE_NAME_PREFIX,
             read_ahead_queue_size=args.read_ahead_queue_size)

ros2bag/ros2bag/verb/record.py

@@ -19,7 +19,7 @@
 
 from ros2cli.node.strategy import NodeStrategy
 from ros2cli.node.strategy import add_arguments
-
+from ros2cli.node import NODE_NAME_PREFIX
 from rosbag2_transport import rosbag2_transport_py
 
 
@@ -75,6 +75,7 @@ def main(self, *, args):  # noqa: D102
                 uri=uri,
                 storage_id=args.storage,
                 serialization_format=args.serialization_format,
+                node_prefix=NODE_NAME_PREFIX,
                 all=True,
                 no_discovery=args.no_discovery,
                 polling_interval=args.polling_interval)
@@ -83,6 +84,7 @@ def main(self, *, args):  # noqa: D102
                 uri=uri,
                 storage_id=args.storage,
                 serialization_format=args.serialization_format,
+                node_prefix=NODE_NAME_PREFIX,
                 no_discovery=args.no_discovery,
                 polling_interval=args.polling_interval,
                 topics=args.topics)

rosbag2_transport/include/rosbag2_transport/play_options.hpp

@@ -16,6 +16,7 @@
 #define ROSBAG2_TRANSPORT__PLAY_OPTIONS_HPP_
 
 #include <cstddef>
+#include <string>
 
 namespace rosbag2_transport
 {
@@ -24,6 +25,7 @@ struct PlayOptions
 {
 public:
   size_t read_ahead_queue_size;
+  std::string node_prefix = "";
 };
 
 }  // namespace rosbag2_transport

rosbag2_transport/include/rosbag2_transport/record_options.hpp

@@ -29,6 +29,7 @@ struct RecordOptions
   std::vector<std::string> topics;
   std::string rmw_serialization_format;
   std::chrono::milliseconds topic_polling_interval;
+  std::string node_prefix = "";
 };
 
 }  // namespace rosbag2_transport

rosbag2_transport/include/rosbag2_transport/rosbag2_transport.hpp

@@ -85,7 +85,7 @@ class Rosbag2Transport
   void print_bag_info(const std::string & uri, const std::string & storage_id);
 
 private:
-  std::shared_ptr<Rosbag2Node> setup_node();
+  std::shared_ptr<Rosbag2Node> setup_node(std::string node_prefix = "");
 
   std::shared_ptr<rosbag2::SequentialReader> reader_;
   std::shared_ptr<rosbag2::Writer> writer_;

rosbag2_transport/src/rosbag2_transport/rosbag2_transport.cpp

@@ -67,7 +67,7 @@ void Rosbag2Transport::record(
     writer_->open(
       storage_options, {rmw_get_serialization_format(), record_options.rmw_serialization_format});
 
-    auto transport_node = setup_node();
+    auto transport_node = setup_node(record_options.node_prefix);
 
     Recorder recorder(writer_, transport_node);
     recorder.record(record_options);
@@ -76,10 +76,10 @@ void Rosbag2Transport::record(
   }
 }
 
-std::shared_ptr<Rosbag2Node> Rosbag2Transport::setup_node()
+std::shared_ptr<Rosbag2Node> Rosbag2Transport::setup_node(std::string node_prefix)
 {
   if (!transport_node_) {
-    transport_node_ = std::make_shared<Rosbag2Node>("rosbag2");
+    transport_node_ = std::make_shared<Rosbag2Node>(node_prefix + "_rosbag2");
   }
   return transport_node_;
 }
@@ -90,7 +90,7 @@ void Rosbag2Transport::play(
   try {
     reader_->open(storage_options, {"", rmw_get_serialization_format()});
 
-    auto transport_node = setup_node();
+    auto transport_node = setup_node(play_options.node_prefix);
 
     Player player(reader_, transport_node);
     player.play(play_options);

rosbag2_transport/src/rosbag2_transport/rosbag2_transport_python.cpp

@@ -32,6 +32,7 @@ rosbag2_transport_record(PyObject * Py_UNUSED(self), PyObject * args, PyObject *
     "uri",
     "storage_id",
     "serialization_format",
+    "node_prefix",
     "all",
     "no_discovery",
     "polling_interval",
@@ -41,14 +42,16 @@ rosbag2_transport_record(PyObject * Py_UNUSED(self), PyObject * args, PyObject *
   char * uri = nullptr;
   char * storage_id = nullptr;
   char * serilization_format = nullptr;
+  char * node_prefix = nullptr;
   bool all = false;
   bool no_discovery = false;
   uint64_t polling_interval_ms = 100;
   PyObject * topics = nullptr;
-  if (!PyArg_ParseTupleAndKeywords(args, kwargs, "sss|bbKO", const_cast<char **>(kwlist),
+  if (!PyArg_ParseTupleAndKeywords(args, kwargs, "ssss|bbKO", const_cast<char **>(kwlist),
     &uri,
     &storage_id,
     &serilization_format,
+    &node_prefix,
     &all,
     &no_discovery,
     &polling_interval_ms,
@@ -62,6 +65,7 @@ rosbag2_transport_record(PyObject * Py_UNUSED(self), PyObject * args, PyObject *
   record_options.all = all;
   record_options.is_discovery_disabled = no_discovery;
   record_options.topic_polling_interval = std::chrono::milliseconds(polling_interval_ms);
+  record_options.node_prefix = std::string(node_prefix);
 
   if (topics) {
     PyObject * topic_iterator = PyObject_GetIter(topics);
@@ -93,14 +97,22 @@ rosbag2_transport_play(PyObject * Py_UNUSED(self), PyObject * args, PyObject * k
   rosbag2_transport::PlayOptions play_options{};
   rosbag2_transport::StorageOptions storage_options{};
 
-  static const char * kwlist[] = {"uri", "storage_id", "read_ahead_queue_size", nullptr};
+  static const char * kwlist[] = {
+    "uri",
+    "storage_id",
+    "node_prefix",
+    "read_ahead_queue_size",
+    nullptr
+  };
 
   char * uri;
   char * storage_id;
+  char * node_prefix;
   size_t read_ahead_queue_size;
-  if (!PyArg_ParseTupleAndKeywords(args, kwargs, "ss|k", const_cast<char **>(kwlist),
+  if (!PyArg_ParseTupleAndKeywords(args, kwargs, "sss|k", const_cast<char **>(kwlist),
     &uri,
     &storage_id,
+    &node_prefix,
     &read_ahead_queue_size))
   {
     return nullptr;
@@ -109,6 +121,7 @@ rosbag2_transport_play(PyObject * Py_UNUSED(self), PyObject * args, PyObject * k
   storage_options.uri = std::string(uri);
   storage_options.storage_id = std::string(storage_id);
 
+  play_options.node_prefix = std::string(node_prefix);
   play_options.read_ahead_queue_size = read_ahead_queue_size;
 
   rosbag2_transport::Rosbag2Transport transport;