Inconsistent use of node name vs executable/artifact in rossystem.rossystem.j2

[Rezenders]

Inconsistent use of node name vs executable/artifact in rossystem.rossystem.j2

As far as I understood, the rossystem.rossystem.j2 template is mixing two different identifiers:

• node_identifier, derived from the ROS graph node full name:

ros2model/templates/rossystem.rossystem.j2

Line 7 in 0fd8d9e

{% set node_identifier = node.name.full_name.lstrip('/') %}

• and exec_name, derived from node.executable:

ros2model/templates/rossystem.rossystem.j2

Lines 8 to 12 in 0fd8d9e

	{% set exec_attr = node|attr('executable') %}
	{% set exec_name = exec_attr if exec_attr is not undefined and exec_attr else (node_identifier.lstrip('/') if node_identifier else '') %}
	{% if exec_name == '' %}
	{% set exec_name = node_identifier %}
	{% endif %}

The from: key uses exec_name but it seems that the DSL expects the node name:

ros2model/templates/rossystem.rossystem.j2

Line 15 in 0fd8d9e

from: "{{ pkg }}.{{ exec_name }}"

rossystem.xtext:

RosNode returns RosNode:
    {RosNode}
    name=EString':'
    BEGIN
    'from:'from=[ros::Node|EString]

So, If you define a .ros2 file like the following:

ros_gz_bridge:
  artifacts:
    parameter_bridge:
      node: /gz_pipe_pose_bridge

the template generates:

  "/gz_pipe_pose_bridge":
    from: "ros_gz_bridge.parameter_bridge"

and I get this error in eclipse:

Description	Resource Path Location Type Couldn't resolve reference to Node 'ros_gz_bridge.parameter_bridge'.

the DSL seems to expect:

  "/gz_pipe_pose_bridge":
    from: "ros_gz_bridge./gz_pipe_pose_bridge"