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Filter ROS arguments before gflags parsing #453

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merged 3 commits into from
Nov 3, 2023
Merged

Filter ROS arguments before gflags parsing #453

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199f6ec
Filter ROS arguments before gflags parsing
mjcarroll Sep 21, 2023
f600fa0
Fix argument parsing
mjcarroll Nov 2, 2023
cdb4b9c
Lint
mjcarroll Nov 2, 2023
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12 changes: 10 additions & 2 deletions ros_gz_sim/src/create.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,15 +49,23 @@ DEFINE_double(Y, 0, "Yaw component of initial orientation, in radians.");
// If these are not needed, just use the `gz service` command line instead.
int main(int _argc, char ** _argv)
{
rclcpp::init(_argc, _argv);
auto filtered_arguments = rclcpp::init_and_remove_ros_arguments(_argc, _argv);
auto ros2_node = rclcpp::Node::make_shared("ros_gz_sim");

int filtered_argc = filtered_arguments.size();
std::vector<char *> filtered_argv;

for (auto arg: filtered_arguments)
{
filtered_argv.push_back(arg.c_str());
}

gflags::AllowCommandLineReparsing();
gflags::SetUsageMessage(
R"(Usage: create -world [arg] [-file FILE] [-param PARAM] [-topic TOPIC]
[-string STRING] [-name NAME] [-allow_renaming RENAMING] [-x X] [-y Y] [-z Z]
[-R ROLL] [-P PITCH] [-Y YAW])");
gflags::ParseCommandLineFlags(&_argc, &_argv, true);
gflags::ParseCommandLineFlags(&filtered_argc, &filtered_argv.data(), true);

// World
std::string world_name = FLAGS_world;
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