Remappings in Bus Configuration YAML

[luis-camero]

Within the device container load_component method, the node option use_global_arguments is disabled.

ros2_canopen/canopen_core/src/device_container.cpp

Line 50 in 52327f9

opts.use_global_arguments(false);

Therefore, any remappings passed to the device_container node will not modify any loaded component. For example, if trying to hide the nmt_state topic published by the canopen_proxy_driver, the following modification to the launch file would not work:

lifecycle_device_container_node = launch_ros.actions.LifecycleNode(
        name="device_container_node",
        namespace=LaunchConfiguration("namespace"),
        package="canopen_core",
        output="screen",
        executable="device_container_node",
        parameters=[
            {"bus_config": LaunchConfiguration("bus_config")},
            {"master_config": LaunchConfiguration("master_config")},
            {"master_bin": LaunchConfiguration("master_bin")},
            {"can_interface_name": LaunchConfiguration("can_interface_name")},
        ],
        remappings=[("~/nmt_state", "_nmt_state")]
    )

Since the goal of disabling the global argument option is to keep all loaded devices independent, there should be a way to remap topics through the bus configuration file.

With these changes, a remappings entry can be added to each device in the configuration file, such that they all have their own remapped topics defined. For example, if we wanted to hide the rpdo topic on one proxy device and tpdo on another, we could set each independently:

options:
  dcf_path: "@BUS_CONFIG_PATH@"

master:
  node_id: 1
  driver: "ros2_canopen::MasterDriver"
  package: "canopen_master_driver"

proxy_device_1:
  node_id: 2
  dcf: "simple.eds"
  driver: "ros2_canopen::ProxyDriver"
  package: "canopen_proxy_driver"
  polling: true
  period: 10
  namespace: "/test1"
  remappings: 
    ~/rpdo: _rpdo

proxy_device_2:
  node_id: 3
  dcf: "simple.eds"
  driver: "ros2_canopen::ProxyDriver"
  package: "canopen_proxy_driver"
  polling: true
  period: 10
  namespace: "/test2"
  remappings:
    ~/tpdo: _tpdo