small fix

snap/hooks/configure

@@ -22,6 +22,53 @@ log() {
 
 $SNAP/usr/bin/configure_hook_ros.sh
 
+is_integer() {
+  expr "$1" : '-\?[0-9][0-9]*$' >/dev/null 2>&1
+}
+
+# Make sure ROS 2 nodes parameters value is a boolean
+OPTS="inverted angle-compensate"
+for OPT in ${OPTS}; do
+  VALUE="$(snapctl get driver.${OPT})"
+  if [ -n "${VALUE}" ]; then
+    case "${VALUE}" in
+    "true") ;;
+    "false") ;;
+    *)
+      log_and_echo "configure hook: '${VALUE}' is not a supported value for ${OPT}." \
+        "Possible values are True or False."
+      exit 1
+      ;;
+    esac
+  fi
+done
+
+# Make sure ROS 2 nodes parameters value is a boolean
+OPTS="channel-type"
+for OPT in ${OPTS}; do
+  VALUE="$(snapctl get driver.${OPT})"
+  if [ -n "${VALUE}" ]; then
+    case "${VALUE}" in
+    "serial") ;;
+    "tcp") ;;
+    "udp") ;;
+    *)
+      log_and_echo "configure hook: '${VALUE}' is not a supported value for ${OPT}." \
+        "Possible values are serial, tcp, udp."
+      exit 1
+      ;;
+    esac
+  fi
+done
+
+# Make sure ROS 2 nodes parameters value is a boolean
+OPT="serial-baudrate"
+VALUE="$(snapctl get driver.${OPT})"
+if ! is_integer "${VALUE}" ; then
+  log_and_echo "'${VALUE}' is not a supported value for '${OPT}'. Possible values are integers."
+  exit 1
+fi
+
 # restart services with new ROS 2 config
 for service in daemon; do
   if snapctl services ${SNAP_NAME}.${service} | grep -qw active; then

snap/local/launcher.sh

@@ -9,16 +9,17 @@ log() {
 # Iterate over the snap parameters and retrieve their value.
 # If a value is set, it is forwarded to the launch file.
 OPTIONS="\
-  channel-type \
-  serial-port \
-  serial-baudrate \
-  frame-id \
-  inverted \
-  angle-compensate \
-  scan-mode \
-  robot-namespace \
-  device-namespace \
-  "
+ channel-type \
+ serial-port \
+ serial-baudrate \
+ frame-id \
+ inverted \
+ angle-compensate \
+ scan-mode \
+ namespace \
+ device-namespace \
+"
+
 LAUNCH_OPTIONS=""
 
 for OPTION in ${OPTIONS}; do

snap/local/rplidar.launch.py

@@ -10,7 +10,8 @@
 
 def get_frame_id(context):
     device_ns = LaunchConfiguration('device_namespace').perform(context)
-    return f"{device_ns}_link" if device_ns else "laser"
+    default_frame_id = LaunchConfiguration('frame_id').perform(context)
+    return f"{device_ns}_link" if device_ns else f"{default_frame_id}"
 
 def generate_launch_description():
     channel_type = LaunchConfiguration('channel_type', default='serial')
@@ -20,12 +21,20 @@ def generate_launch_description():
     inverted = LaunchConfiguration('inverted', default='false')
     angle_compensate = LaunchConfiguration('angle_compensate', default='true')
     scan_mode = LaunchConfiguration('scan_mode', default='')
-    robot_namespace = LaunchConfiguration('robot_namespace', default='')
+    namespace = LaunchConfiguration('namespace', default='')
     device_namespace = LaunchConfiguration('device_namespace', default='')
 
     def launch_setup(context, *args, **kwargs):
         frame_id_value = get_frame_id(context)
-        robot_ns = LaunchConfiguration('robot_namespace').perform(context)
+        robot_ns = LaunchConfiguration('namespace').perform(context)
+
+        remappings = []
+        if robot_ns:
+            remappings.append(('/tf', f'/{robot_ns}/tf'))
+            remappings.append(('/tf_static', f'/{robot_ns}/tf_static'))
+        else:
+            remappings.append(('/tf', '/tf'))
+            remappings.append(('/tf_static', '/tf_static'))
 
         node = Node(
             package='rplidar_ros',
@@ -40,14 +49,11 @@ def launch_setup(context, *args, **kwargs):
                 'angle_compensate': angle_compensate,
                 'scan_mode': scan_mode
             }],
-            remappings=[
-                ('/tf', f'/{robot_ns}/tf'),
-                ('/tf_static', f'/{robot_ns}/tf_static')
-            ],
+            remappings=remappings,
             output='screen'
         )
 
-        return [PushRosNamespace(robot_namespace), PushRosNamespace(device_namespace), node]
+        return [PushRosNamespace(namespace), PushRosNamespace(device_namespace), node]
 
     return LaunchDescription([
 
@@ -87,7 +93,7 @@ def launch_setup(context, *args, **kwargs):
             description='Specifying scan mode of lidar'),
 
         DeclareLaunchArgument(
-            'robot_namespace',
+            'namespace',
             default_value='',
             description='Namespace which will appear in front of all topics (including /tf and /tf_static).',
         ),