Set parameters from file for composable nodes

[adityapande-1995]

This PR aims to extend the SetParametersFromFile launch action to composable nodes as well.

Sample usage :

import launch
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
from launch_ros.actions import SetParameter, SetParametersFromFile
from launch.actions import GroupAction

def generate_launch_description():
    container = ComposableNodeContainer(
            name='my_container',
            namespace='',
            package='rclcpp_components',
            executable='component_container',
            composable_node_descriptions=[
                ComposableNode(
                    package='demo_nodes_cpp',
                    plugin='demo_nodes_cpp::ParameterBlackboard',
                    name='trial',
                    parameters=[{'param_1':5}]
                )
            ],
            output='screen',
    )

    return launch.LaunchDescription([
        GroupAction(
            actions = [
                #SetParametersFromFile('./eg.yaml'),
                #SetParametersFromFile('eg.yaml'),
                SetParametersFromFile('/home/aditya/Desktop/cmp_nodes/eg.yaml'),
                SetParameter(name='param_2', value=10),
                container
            ]
        )
    ])

TODO :

• Add test cases

Signed-off-by: Aditya Pande [email protected]

[jacobperron]

LGTM with this TODO resolved:

launch_ros/test_launch_ros/test/test_launch_ros/actions/test_set_parameters_from_file.py

Line 136 in d31044d

# TODO: (Aditya) Add test case for composable node

[adityapande-1995]

CI :
build : --packages-above-and-dependencies launch_ros
test : --packages-above launch_ros

• Linux
• Linux-aarch64
• macOS
• Windows

[jacobperron]

LGTM

[ivanpauno]

LGTM with green CI

[adityapande-1995]

CI round 2 :
build : --packages-above-and-dependencies launch_ros
test : --packages-above launch_ros

• Linux
• Linux-aarch64
• macOS
• Windows []

Windows failures seem to be unrelated : https://ci.ros2.org/view/All/job/ci_windows/15761/#showFailuresLink

CI rerun for windows :

[adityapande-1995]

Looks life a flaky failure. @jacobperron should I merge this ?

[jacobperron]

LGTM, go ahead and merge 🎉