Fix: Node got override in launch file and parameter files when using namespace in rossystem

plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/GeneratorHelpers.xtend

@@ -361,7 +361,12 @@ class GeneratorHelpers {
         package_impl = node.eContainer.eContainer as AmentPackageImpl;
         return package_impl;
     }
-
+    def static String removeLeadingSlash(String input) {
+        if (input !== null && input.startsWith("/")) {
+            return input.substring(1)
+    }
+        return input
+    }
     //Launch files generators
 //  def check_ns(ComponentInterface component){
 //      if (component.hasNS){

plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/LaunchFileCompiler_ROS2.xtend

@@ -41,7 +41,7 @@ from launch.substitutions import LaunchConfiguration, PythonExpression, PathJoin
 
 def generate_launch_description():
   ld = LaunchDescription()
-  
+
   # *** PARAMETERS ***
   «FOR component:getRos2Nodes(system)»«IF generate_yaml(component)»
   «component.name»_config = os.path.join(
@@ -61,11 +61,11 @@ def generate_launch_description():
 
   # *** ROS 2 nodes ***
   «FOR component:getRos2Nodes(system)»
-  «(component as RosNode).name» = Node(
+  «IF !component.namespace.nullOrEmpty»«GeneratorHelpers.removeLeadingSlash(component.namespace)»_«(component as RosNode).name» = Node(«ELSE»
+  «(component as RosNode).name» = Node(«ENDIF»
     package="«((component as RosNode).from.eContainer.eContainer as AmentPackageImpl).name»",«IF !component.namespace.nullOrEmpty»
     namespace="«component.namespace»",«ENDIF»
     executable="«((component as RosNode).from.eContainer as Artifact).name»",
-    prefix = 'xterm -e',
     output='screen',
     name="«(component as RosNode).name»"«compile_remappings_str(component as RosNode, system.connections)»«IF !component.rosparameters.nullOrEmpty»«IF generate_yaml(component)»,
     parameters = [«component.name»_config]«ELSE»,
@@ -88,14 +88,20 @@ def generate_launch_description():
 
   # *** Add actions ***
   «FOR component:getRos2Nodes(system)»
+  «IF !component.namespace.nullOrEmpty»
+  ld.add_action(«GeneratorHelpers.removeLeadingSlash(component.namespace)»_«(component as RosNode).name»)
+  «ELSE»
   ld.add_action(«(component as RosNode).name»)
+  «ENDIF»
   «ENDFOR»«FOR subsystem:getSubsystems(system)»
   ld.add_action(include_«subsystem.name»)
   «ENDFOR»
 
   return ld
     '''
 
+
+
 //    def void compile_list_of_ROS2components(RosSystem system, ComponentStack stack) {
 //        components_tmp_.clear;
 //        Ros2components.clear;
@@ -150,7 +156,7 @@ def generate_launch_description():
 
         var rename = ""
 
-        
+
         for (connection : connections){
             var rosconnection = connection as RosSystemConnectionImpl
             if (rosconnection.from.reference.eClass.toString.contains("RosPublisherReference")){
@@ -236,14 +242,14 @@ def generate_launch_description():
         }
 
         }
-                
+
         for (interface : node.rosinterfaces){
             if (!remapped_interfaces.contains(interface)){
                 var origin = interface.reference.eCrossReferences.toString
                 var origin_name = origin.substring(origin.indexOf("name: ") + 6, origin.lastIndexOf(")]"))
                 if (interface.name !== origin_name){
                     remap_str += "\t(\"" + origin_name + "\", \"" + interface.name + "\"),\n";
-                } 
+                }
             }
         }
 //        for (rosPublisher : interfaces.toList) {

plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/READMECompiler.xtend

@@ -10,6 +10,7 @@ import system.impl.RosServiceClientReferenceImpl
 import system.impl.RosServiceServerReferenceImpl
 import system.impl.RosSubscriberReferenceImpl
 import com.google.inject.Inject
+import system.RosParameter
 
 class READMECompiler {
 
@@ -23,11 +24,13 @@ This package has be created automatically using the [RosTooling](https://github.
 
 It holds the launch file to run the following nodes:
 «FOR node:getRos2Nodes(system)»
-- «(node as RosNode).name»
+«IF !node.namespace.nullOrEmpty»- «GeneratorHelpers.removeLeadingSlash(node.namespace)»_«(node as RosNode).name»«ELSE»
+- «(node as RosNode).name»«ENDIF»
 «ENDFOR»
 «FOR subsystem:system.subsystems»
 «FOR node:getRos2Nodes(subsystem)»
-- «(node as RosNode).name»
+«IF !node.namespace.nullOrEmpty»- «GeneratorHelpers.removeLeadingSlash(node.namespace)»_«(node as RosNode).name»«ELSE»
+- «(node as RosNode).name»«ENDIF»
 «ENDFOR»
 «ENDFOR»
 
@@ -43,7 +46,7 @@ It holds the launch file to run the following nodes:
 ### Using release
 
 «IF system.fromFile.nullOrEmpty»
-This package can be copied to a valid ROS 2 workspace. To be sure that all the related dependencies are intalles the command **rosdep install** can be used.
+This package can be copied to a valid ROS 2 workspace. To be sure that all the related dependencies are installed and the command **rosdep install** can be used.
 Then the workspace must be compiled using the common ROS 2 build command:
 
 ```
@@ -85,7 +88,7 @@ source install/setup.bash
 To execute the launch file, the following command can be called:
 
 ```
-ros2 launch «system.name» «system.name».launch.py «FOR param:system.parameter»«param.name»:=«get_param_value(param.value,param.name)» «ENDFOR»
+ros2 launch «system.name» «system.name».launch.py «FOR param:system.parameter»«(param as RosParameter).name»:=«get_param_value((param as RosParameter).value,(param as RosParameter).name)» «ENDFOR»
 ```
 
 The generated launch files requires the xterm package, it can be installed by:
@@ -98,13 +101,13 @@ sudo apt install xterm
 To launch this system there is already an existing package that contains the launch file. It can be started by:
 
 ```
-ros2 launch «system.fromFile.split("/",2).get(0)» «system.fromFile.substring(system.fromFile.lastIndexOf('/') + 1)» «FOR param:system.parameter»«param.name»:=«get_param_value(param.value,param.name)» «ENDFOR»
+ros2 launch «system.fromFile.split("/",2).get(0)» «system.fromFile.substring(system.fromFile.lastIndexOf('/') + 1)» «FOR param:system.parameter»«(param as RosParameter).name»:=«get_param_value((param as RosParameter).value,(param as RosParameter).name)» «ENDFOR»
 ```
 «ENDIF»
 
 
      '''
-     
+
      def IsInterfacesEmpty(System system){
          for(node: getRos2Nodes(system)){
              if (!(node as RosNode).rosinterfaces.empty){
@@ -118,10 +121,10 @@ ros2 launch «system.fromFile.split("/",2).get(0)» «system.fromFile.substring(
              }
          }
          }
-         
+
          return true
      }
-     
+
      def getPortInfo(RosInterface port ){
          if(port.reference.eClass.toString.contains("RosPublisherReference") && (port.reference as RosPublisherReferenceImpl).basicGetFrom.message !== null){
              return "- Publisher: "+ port.name+" ["+(port.reference as RosPublisherReferenceImpl).basicGetFrom.message.fullname+"]"
@@ -144,5 +147,3 @@ ros2 launch «system.fromFile.split("/",2).get(0)» «system.fromFile.substring(
      }
 
     }
-
-

plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/RosSystemGenerator.xtend

@@ -48,10 +48,19 @@ class RosSystemGenerator extends AbstractGenerator {
                     if(component.eClass.name == "RosNode"){
                         if(!(component as RosNode).rosparameters.nullOrEmpty){
                             yaml_gen=true
-                            fsa.generateFile(
+                            if ((component as RosNode).namespace !== null){
+                                fsa.generateFile(
+                                system.getName().toLowerCase+"/config/"+(component as RosNode).namespace+"_"+(component as RosNode).getName()+".yaml",
+                                compile_toROS2yaml(component as RosNode).toString().replace("\t","  ")
+                                )
+                            }
+                            else{
+                                fsa.generateFile(
                                 system.getName().toLowerCase+"/config/"+(component as RosNode).getName()+".yaml",
                                 compile_toROS2yaml(component as RosNode).toString().replace("\t","  ")
                             )
+                            }
+
                     }}
                 }
                 fsa.generateFile(
@@ -89,4 +98,3 @@ class RosSystemGenerator extends AbstractGenerator {
     }
 
 }
-

plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/YamlFileCompiler_ROS2.xtend

@@ -2,18 +2,19 @@ package de.fraunhofer.ipa.rossystem.generator
 
 import com.google.inject.Inject
 import system.RosNode
+import system.RosParameter
 
 class YamlFileCompiler_ROS2 {
-    
+
     @Inject extension GeneratorHelpers
 
     def compile_toROS2yaml(RosNode component)'''
     «component.name»:
       ros__parameters:
         «FOR param:component.rosparameters»
-        «param.name»: «get_param_value(param.value,param.name)»
+        «param.from.name»: «get_param_value(param.value,param.name)»
         «ENDFOR»
-    
+
     '''
-    
+
 }