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rename RosTimer -> ROSTimer and PushRosNamepsace -> PushROSNamespace #3038

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Merged
merged 3 commits into from
Sep 28, 2022
Merged

rename RosTimer -> ROSTimer and PushRosNamepsace -> PushROSNamespace #3038

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e68092f
rename RosTimer -> ROSTimer and PushRosNamepsace -> PushROSNamespace
wjwwood Sep 24, 2022
3fa4a29
not about changed class names
wjwwood Sep 27, 2022
eb49efd
reword
wjwwood Sep 27, 2022
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4 changes: 2 additions & 2 deletions source/How-To-Guides/Launch-file-different-formats.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -45,7 +45,7 @@ Each launch file performs the following actions:
from launch.substitutions import LaunchConfiguration
from launch.substitutions import TextSubstitution
from launch_ros.actions import Node
from launch_ros.actions import PushRosNamespace
from launch_ros.actions import PushROSNamespace


def generate_launch_description():
Expand Down Expand Up @@ -75,7 +75,7 @@ Each launch file performs the following actions:
launch_include_with_namespace = GroupAction(
actions=[
# push_ros_namespace to set namespace of included nodes
PushRosNamespace('chatter_ns'),
PushROSNamespace('chatter_ns'),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(
Expand Down
13 changes: 12 additions & 1 deletion source/Releases/Release-Iron-Irwini.rst
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Expand Up @@ -55,7 +55,18 @@ Related PR: `ros2/ros2cli#749 <https://github.com/ros2/ros2cli/pull/749>`_
Changes since the Humble release
----------------------------------

To come.
``launch_ros``
^^^^^^^^^^^^^^

Renamed classes which used ``Ros`` in the name to use ``ROS`` in line with PEP8
"""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""""

Classes that were changed:

* ``launch.actions.RosTimer`` -> ``launch.actions.ROSTimer``
* ``launch.actions.PushRosNamespace`` -> ``launch.actions.PushROSNamespace``

The old class names are still there, but will be deprecated.

Known Issues
------------
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6 changes: 3 additions & 3 deletions source/Tutorials/Intermediate/Launch/Using-ROS2-Launch-For-Large-Projects.rst
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Expand Up @@ -280,7 +280,7 @@ Unique namespaces allow the system to start two similar nodes without node name
namespace='turtlesim2',

However, if the launch file contains a large number of nodes, defining namespaces for each of them can become tedious.
To solve that issue, the ``PushRosNamespace`` action can be used to define the global namespace for each launch file description.
To solve that issue, the ``PushROSNamespace`` action can be used to define the global namespace for each launch file description.
Every nested node will inherit that namespace automatically.

To do that, firstly, we need to remove the ``namespace='turtlesim2'`` line from the ``turtlesim_world_2.launch.py`` file.
Expand All @@ -289,7 +289,7 @@ Afterwards, we need to update the ``launch_turtlesim.launch.py`` to include the
.. code-block:: Python

from launch.actions import GroupAction
from launch_ros.actions import PushRosNamespace
from launch_ros.actions import PushROSNamespace

...
turtlesim_world_2 = IncludeLaunchDescription(
Expand All @@ -299,7 +299,7 @@ Afterwards, we need to update the ``launch_turtlesim.launch.py`` to include the
)
turtlesim_world_2_with_namespace = GroupAction(
actions=[
PushRosNamespace('turtlesim2'),
PushROSNamespace('turtlesim2'),
turtlesim_world_2,
]
)
Expand Down