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Description
Features:
- Launch with life cycle
- Details TBD
- Launch components into a "shared" process (see also https://github.com/ros2/launch/issues/160)
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rclcpp_components] CMake support macros for building Node's as "components"👷- [
rclcpp] Consolidate node arguments into a single options class to simplify user defined Node classes 👷- [
rclcpp] Consolidate how arguments are converted into configurations for the node (i.e. command line arguments into remappings and initial parameter values) 👷
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rclcpp_components] Node component container executable(s)👷 - [
launch_ros] Define nodes and then specify where they run separately- [
launch] consider refactoring ExecuteProcess into Execute and Executable ([launch] consider refactoring ExecuteProcess into Execute and Executable #114)
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- Nest launch files with namespacing
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launch] add new Action called IncludeLaunchDescription ([launch] add new Action called IncludeLaunchDescription #115) ✅ - [
launch] add new Action called GroupAction ([launch] add new Action called GroupAction #106) ✅ - [
launch] allow IncludeLaunchDescription to include other python launch files ([launch] allow IncludeLaunchDescription to include other python launch files #116) ✅
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- Launch into/with Docker containers
- Details TBD
- Pass params to nodes/components
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launch_ros] add ability to pass parameters to Node actions ([launch_ros] add ability to pass parameters to Node actions #117) ✅
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Minor Features:
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launch] add new concept for LaunchArgument ([launch] add new concept for LaunchArgument #107) ✅ - [
launch] provide default console and filesystem logging for executed processes ([launch] provide default console and filesystem logging for executed processes #104) 👷 - [
launch] add concept of Conditions ([launch] add concept of Conditions #105) ✅ - [
launch] add new Action called UnsetLaunchConfiguration ([launch] add new Action called UnsetLaunchConfiguration #108) ✅ - [
launch] add new Action called UnregisterEventHandler ([launch] add new Action called UnregisterEventHandler #110) ✅ - [
launch] add option to RegisterEventHandler so that it unregisters itself after one event ([launch] add option to RegisterEventHandler so that it unregisters itself after one event #111) ✅
Technical Enhancements and Bugs:
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launch] improve test coverage for non-core classes ([launch] improve test coverage for non-core classes #102) 👷 - [
launch] prevent launch from hanging when unexpected exceptions occur internally ([launch] prevent launch from hanging when unexpected exceptions occur internally #112) 👷 - [
launch] prevent Actions from being reused ([launch] prevent Actions from being reused #113)
Excluded Features:
- Distributed / remote launch
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launch] Multi-machine Launching ([launch] Multi-machine Launching #79)
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Excluded Technical Enhancements and Bugs:
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launch] refactor introspection system ([launch] refactor introspection system #103) - [
launch] check that iterable contains only types in ensure_argument_type() ([launch] check that iterable contains only types in ensure_argument_type() #109)
Anti-goals (things launch should not do itself):
- Capabilities
- QoS config from launch file
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