translator from LaunchConfiguration to YML

src/rosdiscover/ros2_translator/arch.py

@@ -0,0 +1,41 @@
+import yaml
+from launch.actions import IncludeLaunchDescription
+from launch_ros.actions import Node
+from launch.launch_description_sources import get_launch_description_from_python_launch_file
+
+description = get_launch_description_from_python_launch_file('robot.launch.py')
+nodes = description.entities
+
+
+def toyaml(nodes):
+    to_yaml = {}
+    no_name = 0
+    for node in nodes:
+        if isinstance(node, IncludeLaunchDescription):
+            description1 = node._IncludeLaunchDescription__launch_description_source.try_get_launch_description_without_context()
+            if description1 is None:
+                continue
+            nodes1 = description1.entities
+            to_yaml.update(toyaml(nodes1))
+        if isinstance(node, Node):
+            dic = {}
+            if node._Node__node_name is not None:
+                name_entry = node._Node__node_name
+                dic.update({'name': node._Node__node_name})
+            else:
+                name = 'unknown' + str(no_name)
+                name_entry = name
+                no_name += 1
+                dic.update({'name': name})
+            if node._Node__node_namespace is not None:
+                dic.update({'namespace': node._Node__node_namespace})
+            if node._Node__node_executable is not None:
+                dic.update({'executable': node._Node__node_executable})
+            if node._Node__package is not None:
+                dic.update({'package': node._Node__package})
+            to_yaml.update({name_entry: dic})
+    return to_yaml
+
+
+with open('Arch.yml', 'w') as f:
+    print(yaml.dump(toyaml(nodes), f, default_flow_style=False))