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Rostopic fix #2329

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Rostopic fix #2329

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afe40ed
Enable sustitute args while loading yaml from file
May 5, 2023
679f93d
Undo formatting changes
May 5, 2023
2afe152
Undo irrelevant change
May 5, 2023
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10 changes: 6 additions & 4 deletions tools/rostopic/src/rostopic/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1807,7 +1807,7 @@ def _rostopic_cmd_pub(argv):
# stdin/file input has a rate by default
if rate is None and not options.latch and not options.once:
rate = 10.
stdin_publish(pub, msg_class, rate, options.once, options.file, options.verbose)
stdin_publish(pub, msg_class, rate, options.once, options.file, options.verbose, substitute_keywords=options.substitute_keywords)
else:
argv_publish(pub, msg_class, pub_args, rate, options.once, options.verbose, substitute_keywords=options.substitute_keywords)

Expand Down Expand Up @@ -1939,7 +1939,7 @@ def param_publish(pub, msg_class, param_name, rate, verbose):
if rospy.is_shutdown():
break

def stdin_publish(pub, msg_class, rate, once, filename, verbose):
def stdin_publish(pub, msg_class, rate, once, filename, verbose, substitute_keywords):
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Suggested change
def stdin_publish(pub, msg_class, rate, once, filename, verbose, substitute_keywords):
def stdin_publish(pub, msg_class, rate, once, filename, verbose, substitute_keywords=False):

As this is a library downstream code could be using, the old API must be retained.

"""
:param filename: name of file to read from instead of stdin, or ``None``, ``str``
"""
Expand Down Expand Up @@ -1974,7 +1974,8 @@ def stdin_publish(pub, msg_class, rate, once, filename, verbose):
# None, repeatedly publish it
if exactly_one_message and rate is not None:
print("Got one message and a rate, publishing repeatedly")
publish_message(pub, msg_class, pub_args, rate=rate, once=once, verbose=verbose)
publish_message(pub, msg_class, pub_args, rate=rate, once=once, verbose=verbose,
substitute_keywords=substitute_keywords)
# we use 'bool(r) or once' for the once value, which
# controls whether or not publish_message blocks and
# latches until exit. We want to block if the user
Expand All @@ -1983,7 +1984,8 @@ def stdin_publish(pub, msg_class, rate, once, filename, verbose):
# but, for now, this is the best re-use of the
# underlying methods.
else:
publish_message(pub, msg_class, pub_args, None, bool(r) or once, verbose=verbose)
publish_message(pub, msg_class, pub_args, None, bool(r) or once, verbose=verbose,
substitute_keywords=substitute_keywords)
except ValueError as e:
sys.stderr.write("%s\n"%str(e))
break
Expand Down