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Initial implementation of ScopedIncludeLaunchDescription
Signed-off-by: Jasper van Brakel <[email protected]>w
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‎launch/launch/actions/__init__.py‎

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from .for_loop import ForLoop
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from .group_action import GroupAction
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from .include_launch_description import IncludeLaunchDescription
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from .include_scoped_launch_description import ScopedIncludeLaunchDescription
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from .log_info import LogInfo
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from .opaque_coroutine import OpaqueCoroutine
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from .opaque_function import OpaqueFunction
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'ForLoop',
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'GroupAction',
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'IncludeLaunchDescription',
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'ScopedIncludeLaunchDescription',
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'LogInfo',
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'OpaqueCoroutine',
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'OpaqueFunction',

‎launch/launch/actions/include_scoped_launch_description.py‎

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# Copyright 2025 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Module for the ScopedIncludeLaunchDescription action."""
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# from typing import override # Available starting from Python3.12
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from typing import List
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from typing import Text
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# from itertools import zip_longest
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from .include_launch_description import IncludeLaunchDescription
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from .pop_environment import PopEnvironment
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from .pop_launch_configurations import PopLaunchConfigurations
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from .push_environment import PushEnvironment
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from .push_launch_configurations import PushLaunchConfigurations
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from .reset_environment import ResetEnvironment
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from .reset_launch_configurations import ResetLaunchConfigurations
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from .set_launch_configuration import SetLaunchConfiguration
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from ..frontend import expose_action
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from ..launch_context import LaunchContext
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from ..launch_description_entity import LaunchDescriptionEntity
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from ..utilities import normalize_to_list_of_substitutions
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from ..utilities import perform_substitutions
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@expose_action('scoped_include')
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class ScopedIncludeLaunchDescription(IncludeLaunchDescription):
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# TODO(SuperJappie08) Propper Documentation
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# NOTE(SuperJappie08) __init__ is not required since the function signature will be the same
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# However maybe it is interresting for documentation purposes
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def get_sub_entities(self):
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"""Get subentities."""
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ret = super().get_sub_entities()
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# TODO(SuperJappie08)? Do these internals need to be hidden?
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return [
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PushLaunchConfigurations(),
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PushEnvironment(),
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ResetEnvironment(),
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# NOTE(SuperJappie08) Need weird remap, since AnySubstitution type can be a List which
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# is not Hashable.
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ResetLaunchConfigurations({k[0]: v for k, v in self.launch_arguments})
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* ret,
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PopEnvironment(),
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PopLaunchConfigurations(),
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]
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def execute(self, context: LaunchContext) -> List[LaunchDescriptionEntity]:
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"""Execute the action."""
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# NOTE(SuperJappie08) Originally this returend something based on the used actions
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# However after further consideration the context might not be correct that way.
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context._push_launch_configurations()
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context._push_environment()
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context._reset_environment()
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# Reset Launch Configuration
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evaluated_configurations = {}
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for k, v in self.launch_arguments:
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evaluated_k = perform_substitutions(context, normalize_to_list_of_substitutions(k))
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evaluated_v = perform_substitutions(context, normalize_to_list_of_substitutions(v))
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evaluated_configurations[evaluated_k] = evaluated_v
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context.launch_configurations.clear()
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context.launch_configurations.update(evaluated_configurations)
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launch_description = self.launch_description_source.get_launch_description(context)
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# If the location does not exist, then it's likely set to '<script>' or something.
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context.extend_locals({
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'current_launch_file_path': self._get_launch_file(),
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})
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context.extend_locals({
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'current_launch_file_directory': self._get_launch_file_directory(),
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})
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# Do best effort checking to see if non-optional, non-default declared arguments
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# are being satisfied.
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my_argument_names = [
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perform_substitutions(context, normalize_to_list_of_substitutions(arg_name))
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for arg_name, arg_value in self.launch_arguments
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]
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try:
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declared_launch_arguments = (
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launch_description.get_launch_arguments_with_include_launch_description_actions())
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except Exception as exc:
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if hasattr(exc, 'add_note'):
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exc.add_note(f'while executing {self.describe()}') # type: ignore
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raise
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for argument, ild_actions in declared_launch_arguments:
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if argument._conditionally_included or argument.default_value is not None:
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continue
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argument_names = my_argument_names
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if ild_actions is not None:
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for ild_action in ild_actions:
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argument_names.extend(ild_action._try_get_arguments_names_without_context())
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if argument.name not in argument_names:
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raise RuntimeError(
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"Included launch description missing required argument '{}' "
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"(description: '{}'), given: [{}]"
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.format(argument.name, argument.description, ', '.join(argument_names))
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)
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# Create actions to set the launch arguments into the launch configurations.
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set_launch_configuration_actions = []
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for name, value in self.launch_arguments:
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set_launch_configuration_actions.append(SetLaunchConfiguration(name, value))
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# Set launch arguments as launch configurations and then include the launch description.
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return [
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*set_launch_configuration_actions,
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launch_description,
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PopEnvironment(),
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PopLaunchConfigurations(),
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]
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def __repr__(self) -> Text:
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"""Return a description of this ScopedIncludeLaunchDescription as a string."""
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return f'ScopedIncludeLaunchDescription({self.launch_description_source.location})'

‎launch/test/launch/actions/test_include_scoped_launch_description.py‎

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# Copyright 2025 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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"""Tests for the IncludeScopedLaunchDescription action class."""
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# from launch import LaunchContext
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from launch import LaunchDescription
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from launch import LaunchDescriptionSource
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# from launch import LaunchService
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from launch.actions import IncludeScopedLaunchDescription
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# import pytest
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def test_include_launch_description_constructors():
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"""Test the constructors for IncludeLaunchDescription class."""
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IncludeScopedLaunchDescription(LaunchDescriptionSource(LaunchDescription()))
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IncludeScopedLaunchDescription(
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LaunchDescriptionSource(LaunchDescription()),
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launch_arguments={'foo': 'FOO'}.items())
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def test_correct_scoping():
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"""Test for verifying scoping behavior."""
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NotImplemented()
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# TODO(SuperJappie08) Add tests to verify behavior

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