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This takes two arguments: a resource type and a resource name. These will be resolved and then used to look up a resource in the ament index. Due to how launch files parse substitution arguments by splitting on spaces, the resource type and name cannot contain spaces when using the XML and YAML front-ends. We could try using a different separator for the two, such as a `/` character (since this is guaranteed not to appear in a directory name, and therefore not in an ament resource type either); however, this would complicate things significantly and mean we have to delay the splitting until `perform()` is called and we can resolve any nested substitutions. Signed-off-by: Nathan Wiebe Neufeldt <wn.nathan@gmail.com>
Signed-off-by: Nathan Wiebe Neufeldt <wn.nathan@gmail.com>
Signed-off-by: Nathan Wiebe Neufeldt <wn.nathan@gmail.com>
These check that the substitution works in XML and YAML launch files. Signed-off-by: Nathan Wiebe Neufeldt <wn.nathan@gmail.com>
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Description
This introduces a new launch substitution,
AmentIndexResource, to get the prefix path of the specified resource. This is essentially a generalization of the existingFindPackagePrefixsubstitution that works for any resource type in the ament index. The substitution takes the resource type and name as its two arguments and returns the prefix path result of looking those up withament_index_python.get_resource().This is also exposed in the XML/YAML front-ends as
ament-index-resource. Note that in this case, since these front-ends split arguments based on whitespace, it is not possible to look up resources that contain whitespace characters in their type or name.Is this user-facing behavior change?
Exposes a new launch-file substitution to users.
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