[bug] fixes #1158 (#1159)

* [bug] fixes #1158

XmlLoader and LoaderContext no longer share the param list to child 'node' contexts.
This was causing the creation of unintended private parameters when the tilde notation was used.

* added test cases for tilde param in launch

* added test cases for tilde param in python

* fixed tilde param issue for group tags

Issue #1158 manifested for group tags that appear before (but not containing) node tags.

* added one more test case for issue #1158
used param tag to make sure we test the proposed fix

* Added negative tests for extra parameters

Some parameters should not be present at all.

tools/roslaunch/src/roslaunch/xmlloader.py

@@ -368,6 +368,7 @@ def _node_tag(self, tag, context, ros_config, default_machine, is_test=False, ve
 
             child_ns = self._ns_clear_params_attr('node', tag, context, ros_config, node_name=name)
             param_ns = child_ns.child(name)
+            param_ns.params = [] # This is necessary because child() does not make a copy of the param list.
 
             # required attributes
             pkg, node_type = self.reqd_attrs(tag, context, ('pkg', 'type'))
@@ -647,6 +648,7 @@ def _recurse_load(self, ros_config, tags, context, default_machine, is_core, ver
                 if ifunless_test(self, tag, context):
                     self._check_attrs(tag, context, ros_config, XmlLoader.GROUP_ATTRS)
                     child_ns = self._ns_clear_params_attr(name, tag, context, ros_config)
+                    child_ns.params = list(child_ns.params) # copy is needed here to enclose new params
                     default_machine = \
                         self._recurse_load(ros_config, tag.childNodes, child_ns, \
                                                default_machine, is_core, verbose)

tools/roslaunch/test/unit/test_roslaunch_dump_params.py

@@ -77,6 +77,10 @@ def test_roslaunch(self):
             '/node_rosparam/dict1/shoulders': 2,
             '/node_rosparam/dict1/knees': 3,
             '/node_rosparam/dict1/toes': 4,
+            '/node_rosparam/tilde1': 'foo',
+            '/node_rosparam/local_param': 'baz',
+
+            '/node_rosparam2/tilde1': 'foo',
 
             '/inline_str': 'value1',
             '/inline_list': [1, 2, 3, 4],
@@ -99,3 +103,6 @@ def test_roslaunch(self):
                 elif v != output_val[k]:
                     self.fail("key [%s] value [%s] does not match output: %s"%(k, v, output_val[k])) 
         self.assertEquals(val, output_val)
+        for k in ('/node_rosparam/tilde2', '/node_rosparam2/tilde2', '/node_rosparam2/local_param'):
+            if k in output_val:
+                self.fail("key [%s] should not be in output: %s"%(k, output_val))

tools/roslaunch/test/xml/test-dump-rosparam.launch

@@ -1,15 +1,21 @@
 <launch>
 
+  <param name="~tilde1" value="foo" />
   <rosparam file="$(find roslaunch)/test/dump-params.yaml" command="load" />
 
   <group ns="rosparam">
+    <param name="~tilde2" value="bar" />
     <rosparam file="$(find roslaunch)/test/dump-params.yaml" command="load" />
   </group>
 
   <node pkg="package" type="test_base" name="node_rosparam">
+    <param name="local_param" value="baz" />
     <rosparam file="$(find roslaunch)/test/dump-params.yaml" command="load" />      
   </node>
 
+  <node pkg="package" type="test_base" name="node_rosparam2">
+  </node>
+
   <rosparam param="inline_str">value1</rosparam>
   <rosparam param="inline_list">[1, 2, 3, 4]</rosparam>  
   <rosparam param="inline_dict">{key1: value1, key2: value2}</rosparam>