Recursive remapping rules when roslaunching

[jihoonl]

detail will come soon

[jihoonl]

While composing the teleop service, I tried to start android teleop app with "android/virtual_joystick/cmd_vel" to "/robot_teleop/cmd_vel" remapping rule. However, it didn't remap and still "android/virtual_joystick/cmd_vel" was provided.

(written in rapp launch file)
teleop_velocity_smoother/raw_cmd_vel -> android/virtual_joystick/cmd_vel

(passed as /start_app arguement)
android/virtual_joystick/cmd_vel -> /robot_teleop/cmd_vel

It ignored the remap rule which is passed as /start_app arguement and only applied first one.

[jihoonl]

This is node remapping configuration

[u'teleop_velocity_smoother/raw_cmd_vel', u'android/virtual_joystick/cmd_vel'],[u'teleop_velocity_smoother/smooth_cmd_vel', u'/cmd_vel_mux/input/teleop'],
[u'teleop_velocity_smoother/odometry', u'/odom'],
[u'teleop_velocity_smoother/robot_cmd_vel', u'/mobile_base/commands/velocity'], ('camera/rgb/image_color/compressed_throttle', '/robot_teleop/image_color/compressed_throttle'), ('android/virtual_joystick/cmd_vel', '/robot_teleop/cmd_vel')

[jihoonl]

It seems like roslaunch does not handle the chained remapping rule. So there should be a logic to handle chained remapping rule in rapp.py

To be clear, need a logic to handle

A -> B -> C ---------> A -> C

[jihoonl]

Note that the patch does not find root of the chain. Also triple chained topic would not get resolved. It requires smarter solution.

[stonier]

Just recursing the function should do the trick no?

[jihoonl]

recursive function would work with proper terminate condition.

[jihoonl]

have not seen this issue more than 6 month. reopen if necessary.

[stonier]

The logic problem is still there right?

[stonier]

@jihoonl bump

[jihoonl]

https://github.com/robotics-in-concert/rocon_app_platform/blob/develop/rocon_app_manager/src/rocon_app_manager/rapp.py#L168
and
https://github.com/robotics-in-concert/rocon_app_platform/blob/develop/rocon_app_manager/src/rocon_app_manager/utils.py#L106-L129

should have resolved most of chain remapping problems. The corner cases like chain of chain of chain of chains aren't tested though.