init_and_remove_ros_arguments parse arguments two times #1412
Description
Bug report
Required Info:
- Operating System:
- Ubuntu 20.04
- Installation type:
- source
- Version or commit hash:
- DDS implementation:
- Fast-RTPS
- Client library (if applicable):
- rclcpp
Steps to reproduce issue
$ ros2 run demo_nodes_cpp listener --ros-args --log-level debug
Expected behavior
<...>
[DEBUG] [1603184568.251432332] [rcl]: Couldn't parse arg 0 (/home/sharedata/Linux/ROS2/docker_ros2_master/local_install/lib/demo_nodes_cpp/listener) as a remap rule in its deprecated form. Error: Expected lexeme type (19) not found, search ended at index 87, at /home/sharedata/Linux/ROS2/docker_ros2_master/src/ros2/rcl/rcl/src/rcl/lexer_lookahead.c:233
<...>
Actual behavior
<...>
[DEBUG] [1603184568.251432332] [rcl]: Couldn't parse arg 0 (/home/sharedata/Linux/ROS2/docker_ros2_master/local_install/lib/demo_nodes_cpp/listener) as a remap rule in its deprecated form. Error: Expected lexeme type (19) not found, search ended at index 87, at /home/sharedata/Linux/ROS2/docker_ros2_master/src/ros2/rcl/rcl/src/rcl/lexer_lookahead.c:233
<...>
[DEBUG] [1603184568.253581614] [rcl]: Couldn't parse arg 0 (/home/sharedata/Linux/ROS2/docker_ros2_master/local_install/lib/demo_nodes_cpp/listener) as a remap rule in its deprecated form. Error: Expected lexeme type (19) not found, search ended at index 87, at /home/sharedata/Linux/ROS2/docker_ros2_master/src/ros2/rcl/rcl/src/rcl/lexer_lookahead.c:233
Additional information
rclcpp/rclcpp/src/rclcpp/utilities.cpp
Lines 59 to 67 in 018cfaa
Fix: At
rclcpp/rclcpp/src/rclcpp/utilities.cpp
Lines 69 to 70 in 018cfaa
get_global_default_context()->get_rcl_context() exist, and then decide to call rcl_parse_arguments or not.