NodeStrategy supports node name argument. (#941)

* NodeStrategy supports node name argument.

Signed-off-by: Tomoya Fujita <[email protected]>

* default node name should be None.

Signed-off-by: Tomoya Fujita <[email protected]>

* adjust help message for ros2 echo node name option.

Signed-off-by: Tomoya Fujita <[email protected]>

---------

Signed-off-by: Tomoya Fujita <[email protected]>

Author: fujitatomoya

ros2cli/ros2cli/node/strategy.py

@@ -22,20 +22,21 @@
 
 class NodeStrategy:
 
-    def __init__(self, args):
+    def __init__(self, args, *, node_name=None):
         use_daemon = not getattr(args, 'no_daemon', False)
         if use_daemon and is_daemon_running(args):
             self._daemon_node = DaemonNode(args)
             self._direct_node = None
             if not self._daemon_node.connected:
-                self._direct_node = DirectNode(args)
+                self._direct_node = DirectNode(args, node_name=node_name)
                 self._daemon_node = None
         else:
             if use_daemon:
                 spawn_daemon(args)
-            self._direct_node = DirectNode(args)
+            self._direct_node = DirectNode(args, node_name=node_name)
             self._daemon_node = None
         self._args = args
+        self._node_name = node_name
         self._in_scope = False
 
     @property
@@ -45,7 +46,7 @@ def daemon_node(self):
     @property
     def direct_node(self):
         if self._direct_node is None:
-            self._direct_node = DirectNode(self._args)
+            self._direct_node = DirectNode(self._args, node_name=self._node_name)
             if self._in_scope:
                 self._direct_node.__enter__()
         return self._direct_node

ros2topic/ros2topic/verb/echo.py

@@ -110,6 +110,9 @@ def add_arguments(self, parser, cli_name):
         parser.add_argument(
             '--clear', '-c', action='store_true',
             help='Clear screen before printing next message')
+        parser.add_argument(
+            '-n', '--node-name', type=str, default=None,
+            help='The name of the echoing node; by default, will be a hidden node name')
 
     def choose_qos(self, node, args):
 
@@ -200,7 +203,7 @@ def main(self, *, args):
 
         self.include_message_info = args.include_message_info
 
-        with NodeStrategy(args) as node:
+        with NodeStrategy(args, node_name=args.node_name) as node:
 
             qos_profile = self.choose_qos(node, args)