[ros2node] Add option to info verb to display hidden names (#373)

* [ros2node] Add option to info verb to display hidden names

Changes behavior so that hidden names are not shown by default.

* Update ros2component to request hidden service names

Which it uses for identifier component containers.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

ros2component/ros2component/api/__init__.py

@@ -202,7 +202,8 @@ def find_container_node_names(*, node, node_names):
     container_node_names = []
     for n in node_names:
         try:
-            services = get_service_info(node=node, remote_node_name=n.full_name)
+            services = get_service_info(
+                node=node, remote_node_name=n.full_name, include_hidden=True)
         except rclpy.node.NodeNameNonExistentError:
             continue
         if not any(s.name.endswith('_container/load_node') and

ros2node/ros2node/api/__init__.py

@@ -24,6 +24,11 @@
 TopicInfo = namedtuple('Topic', ('name', 'types'))
 
 
+def _is_hidden_name(name):
+    # note, we're assuming the hidden node prefix is the same for other hidden names
+    return any(part.startswith(HIDDEN_NODE_PREFIX) for part in name.split('/'))
+
+
 def get_absolute_node_name(node_name):
     if not node_name:
         return None
@@ -57,48 +62,60 @@ def get_node_names(*, node, include_hidden_nodes=False):
     ]
 
 
-def get_topics(remote_node_name, func):
+def get_topics(remote_node_name, func, *, include_hidden_topics=False):
     node = parse_node_name(remote_node_name)
     names_and_types = func(node.name, node.namespace)
     return [
         TopicInfo(
             name=t[0],
             types=t[1])
-        for t in names_and_types]
+        for t in names_and_types if include_hidden_topics or not _is_hidden_name(t[0])]
 
 
-def get_subscriber_info(*, node, remote_node_name):
-    return get_topics(remote_node_name, node.get_subscriber_names_and_types_by_node)
+def get_subscriber_info(*, node, remote_node_name, include_hidden=False):
+    return get_topics(
+        remote_node_name,
+        node.get_subscriber_names_and_types_by_node,
+        include_hidden_topics=include_hidden
+    )
 
 
-def get_publisher_info(*, node, remote_node_name):
-    return get_topics(remote_node_name, node.get_publisher_names_and_types_by_node)
+def get_publisher_info(*, node, remote_node_name, include_hidden=False):
+    return get_topics(
+        remote_node_name,
+        node.get_publisher_names_and_types_by_node,
+        include_hidden_topics=include_hidden
+    )
 
 
-def get_service_info(*, node, remote_node_name):
-    return get_topics(remote_node_name, node.get_service_names_and_types_by_node)
+def get_service_info(*, node, remote_node_name, include_hidden=False):
+    return get_topics(
+        remote_node_name,
+        node.get_service_names_and_types_by_node,
+        include_hidden_topics=include_hidden
+    )
 
 
-def get_action_server_info(*, node, remote_node_name):
+def get_action_server_info(*, node, remote_node_name, include_hidden=False):
     remote_node = parse_node_name(remote_node_name)
     names_and_types = get_action_server_names_and_types_by_node(
         node, remote_node.name, remote_node.namespace)
     return [
         TopicInfo(
             name=n,
             types=t)
-        for n, t in names_and_types]
+        for n, t in names_and_types if include_hidden or not _is_hidden_name(n)]
 
 
-def get_action_client_info(*, node, remote_node_name):
+def get_action_client_info(*, node, remote_node_name, include_hidden=False):
     remote_node = parse_node_name(remote_node_name)
     names_and_types = get_action_client_names_and_types_by_node(
         node, remote_node.name, remote_node.namespace)
     return [
         TopicInfo(
             name=n,
             types=t)
-        for n, t in names_and_types]
+        for n, t in names_and_types if include_hidden or not _is_hidden_name(n)]
 
 
 class NodeNameCompleter:

ros2node/ros2node/verb/info.py

@@ -38,28 +38,34 @@ def add_arguments(self, parser, cli_name):
             'node_name',
             help='Node name to request information')
         argument.completer = NodeNameCompleter()
+        parser.add_argument(
+            '--include-hidden', action='store_true',
+            help='Display hidden topics, services, and actions as well')
 
     def main(self, *, args):
         with NodeStrategy(args) as node:
             node_names = get_node_names(node=node, include_hidden_nodes=True)
         if args.node_name in (n.full_name for n in node_names):
             with DirectNode(args) as node:
                 print(args.node_name)
-                subscribers = get_subscriber_info(node=node, remote_node_name=args.node_name)
+                subscribers = get_subscriber_info(
+                    node=node, remote_node_name=args.node_name, include_hidden=args.include_hidden)
                 print('  Subscribers:')
                 print_names_and_types(subscribers)
-                publishers = get_publisher_info(node=node, remote_node_name=args.node_name)
+                publishers = get_publisher_info(
+                    node=node, remote_node_name=args.node_name, include_hidden=args.include_hidden)
                 print('  Publishers:')
                 print_names_and_types(publishers)
-                services = get_service_info(node=node, remote_node_name=args.node_name)
+                services = get_service_info(
+                    node=node, remote_node_name=args.node_name, include_hidden=args.include_hidden)
                 print('  Services:')
                 print_names_and_types(services)
                 actions_servers = get_action_server_info(
-                    node=node, remote_node_name=args.node_name)
+                    node=node, remote_node_name=args.node_name, include_hidden=args.include_hidden)
                 print('  Action Servers:')
                 print_names_and_types(actions_servers)
                 actions_clients = get_action_client_info(
-                    node=node, remote_node_name=args.node_name)
+                    node=node, remote_node_name=args.node_name, include_hidden=args.include_hidden)
                 print('  Action Clients:')
                 print_names_and_types(actions_clients)
         else: