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I have a python node that I would like to add to a composable node container.

I could not find any documentation on the python equivalent to the rclcpp_components_register_node cmake command. I would assume that I would need to adjust the python code of the node as well as the setup.py file.

Naively, I have just tried to add the executable in the ComposableNode():

ComposableNode(
    package="foo",
    plugin="foo_node",
    name="foo",
),

but got the following error when launching:

[ERROR] [bar.container]: Could not find requested resource in ament index
[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'foo_node' of type 'foo_node' in container '/bar/container': Could not find requested resource in ament index

It would be great if you could help me figure this out. Thanks.

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2 Answers 2

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Welcome to Robotics Stack Exchange!

How to build a python node as a component?

As of ROS 2 Iron Irwinin the features status mentions that the composition of node components at compile, link, load, or run time is currently only in C++.

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  • $\begingroup$ Thanks for checking. I will try to keep an eye on this table. $\endgroup$ Commented Aug 15, 2023 at 8:17
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You can use your node in launch.py file like this;

from launch import LaunchDescription

def generate_launch_description():
    # For example
    joy_node_command = Node(
        package='joy',
        executable='joy_node',
        name='joy'
    )
    
    ld = LaunchDescription()
    
    ld.add_action(joy_node_command)
    
    return ld

I hope this answer solves your problem. :)

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  • $\begingroup$ Hi, I would like to launch it in a composition so it shares the process with related nodes, and I can use intraprocess communication. This does unfortunately not solve the issue. $\endgroup$ Commented Aug 15, 2023 at 8:20
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    $\begingroup$ @Metz oh okay, I got it. I think you have looked that link but you may have overlooked. docs.ros.org/en/galactic/How-To-Guides/… $\endgroup$ Commented Aug 15, 2023 at 8:27

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