rqt_controller_manager compatibility for humble (#1429)

rqt_controller_manager/rqt_controller_manager/controller_manager.py

@@ -60,7 +60,8 @@ def __init__(self, context):
  # Pop-up that displays controller information
  self._popup_widget = QWidget()
  ui_file = os.path.join(
- get_package_share_directory("rqt_controller_manager"), "resource", "controller_info.ui"
+ get_package_share_directory(
+ "rqt_controller_manager"), "resource", "controller_info.ui"
  )
  loadUi(ui_file, self._popup_widget)
  self._popup_widget.setObjectName("ControllerInfoUi")
@@ -71,7 +72,8 @@ def __init__(self, context):
  # plugin at once, these lines add number to make it easy to
  # tell from pane to pane.
  if context.serial_number() > 1:
- self._widget.setWindowTitle(f"{self._widget.windowTitle()} {context.serial_number()}")
+ self._widget.setWindowTitle(
+ f"{self._widget.windowTitle()} {context.serial_number()}")
  # Add widget to the user interface
  context.add_widget(self._widget)
 
@@ -106,13 +108,15 @@ def __init__(self, context):
 
  # Timer for controller manager updates
  self._update_cm_list_timer = QTimer(self)
- self._update_cm_list_timer.setInterval(int(1000.0 / self._cm_update_freq))
+ self._update_cm_list_timer.setInterval(
+ int(1000.0 / self._cm_update_freq))
  self._update_cm_list_timer.timeout.connect(self._update_cm_list)
  self._update_cm_list_timer.start()
 
  # Timer for running controller updates
  self._update_ctrl_list_timer = QTimer(self)
- self._update_ctrl_list_timer.setInterval(int(1000.0 / self._cm_update_freq))
+ self._update_ctrl_list_timer.setInterval(
+ int(1000.0 / self._cm_update_freq))
  self._update_ctrl_list_timer.timeout.connect(self._update_controllers)
  self._update_ctrl_list_timer.start()
 
@@ -141,7 +145,8 @@ def restore_settings(self, plugin_settings, instance_settings):
  pass
 
  def _update_cm_list(self):
- update_combo(self._widget.cm_combo, _list_controller_managers(self._node))
+ update_combo(self._widget.cm_combo,
+ _list_controller_managers(self._node))
 
  def _on_cm_change(self, cm_name):
  self._cm_name = cm_name
@@ -181,7 +186,8 @@ def _list_controllers(self):
  for name in _get_parameter_controller_names(self._node, self._cm_name):
  add_ctrl = all(name != ctrl.name for ctrl in controllers)
  if add_ctrl:
- type_str = _get_controller_type(self._node, self._cm_name, name)
+ type_str = _get_controller_type(
+ self._node, self._cm_name, name)
  uninit_ctrl = ControllerState(name=name, type=type_str)
  controllers.append(uninit_ctrl)
  return controllers
@@ -205,19 +211,26 @@ def _on_ctrl_menu(self, pos):
  # Show context menu
  menu = QMenu(self._widget.table_view)
  if ctrl.state == "active":
- action_deactivate = menu.addAction(self._icons["inactive"], "Deactivate")
- action_kill = menu.addAction(self._icons["finalized"], "Deactivate and Unload")
+ action_deactivate = menu.addAction(
+ self._icons["inactive"], "Deactivate")
+ action_kill = menu.addAction(
+ self._icons["finalized"], "Deactivate and Unload")
  elif ctrl.state == "inactive":
  action_activate = menu.addAction(self._icons["active"], "Activate")
- action_unload = menu.addAction(self._icons["unconfigured"], "Unload")
+ action_unload = menu.addAction(
+ self._icons["unconfigured"], "Unload")
  elif ctrl.state == "unconfigured":
- action_configure = menu.addAction(self._icons["inactive"], "Configure")
- action_spawn = menu.addAction(self._icons["active"], "Configure and Activate")
+ action_configure = menu.addAction(
+ self._icons["inactive"], "Configure")
+ action_spawn = menu.addAction(
+ self._icons["active"], "Configure and Activate")
  else:
  # Controller isn't loaded
  action_load = menu.addAction(self._icons["unconfigured"], "Load")
- action_configure = menu.addAction(self._icons["inactive"], "Load and Configure")
- action_activate = menu.addAction(self._icons["active"], "Load, Configure and Activate")
+ action_configure = menu.addAction(
+ self._icons["inactive"], "Load and Configure")
+ action_activate = menu.addAction(
+ self._icons["active"], "Load, Configure and Activate")
 
  action = menu.exec_(self._widget.table_view.mapToGlobal(pos))
 
@@ -390,7 +403,8 @@ def _get_controller_type(node, node_name, ctrl_name):
  @return Controller type
  @rtype str
  """
- response = call_get_parameters(node=node, node_name=node_name, parameter_names=[ctrl_name])
+ response = call_get_parameters(
+ node=node, node_name=node_name, parameter_names=[ctrl_name])
  return response.values[0].string_value if response.values else ""
 
 
@@ -414,4 +428,9 @@ def _get_parameter_controller_names(node, node_name):
  """Get list of ROS parameter names that potentially represent a controller configuration."""
  parameter_names = call_list_parameters(node=node, node_name=node_name)
  suffix = ".type"
- return [n[: -len(suffix)] for n in parameter_names.result().result.names if n.endswith(suffix)]
+ # @note: The versions conditioning is added here to support the source-compatibility with Humble
+ try:
+ return [n[: -len(suffix)] for n in parameter_names.result().result.names if n.endswith(suffix)]
+ finally:
+ # for humble, ros2param < 0.20.0
+ return [n[: -len(suffix)] for n in parameter_names if n.endswith(suffix)]