[launch_ros] node_name overrides for a multi-node rclpy process about launch_ros

[stonier]

FYI @IanTheEngineer

[wjwwood]

https://answers.ros.org/question/316870/ros2-composition-and-node-names-with-launch-files/?answer=316925#post-id-316925

[masynthetic]

is there a workaround/fix for this? remapping the rclpy.create_node() parameter does not seem to do anything, any use of the name= parameter in the launch file seems to cause the issue

[hidmic]

any use of the name= parameter in the launch file seems to cause the issue

@masynthetic launch_ros.actions.Node is not a multi-node aware action, so yes, it won't work as you intend in that case.

If you can't use components, a possible workaround is to launch your process as a plain process using launch.actions.ExecuteProcess and configure your nodes through command line arguments.

Alternatively, contributions are most welcome. A multi-node aware action proposal would be great.

[jbohren]

This also brings into question the naming of the class launch_ros.actions.Node since it currently can launch a multi-node process.
@stonier

This is what brought me here.

Since even a single-node executable is an executable which owns a node and not the node itself, it feels like launch_ros.actions.Node is a misnomer and could lead to confusion and unexpected behavior. Something like ExecuteSingleNodeProcess would definitely reduce the likelihood of that occurring.

Also is it weird that some actions are written as imperative statements while others are noun phrases?