rospy: #1822 disallow '/' in node name and updated legal name rule for future use

core/roslib/src/roslib/names.py

@@ -201,7 +201,7 @@ def is_valid_local_name(name):
     
 # TODO: redo this, this is very old
 import re
-NAME_LEGAL_CHARS_P = re.compile('^[A-Za-z][\w_\-\+\/]*$') #ascii char followed by (alphanumeric, -, _, +, /)
+NAME_LEGAL_CHARS_P = re.compile('^[A-Za-z][\w_\/]*$') #ascii char followed by (alphanumeric, _, /)
 def is_legal_resource_name(name):
     if not name: #None or empty
         return False

core/rospy/src/rospy/client.py

@@ -126,7 +126,7 @@ def init_node(name, argv=sys.argv, anonymous=False, log_level=INFO, disable_rost
     only allowed if the arguments are identical as the side-effects of
     this method are not reversible.
 
-    @param name: Node's name
+    @param name: Node's name. This parameter cannot contain namespaces (i.e. '/')
     @type  name: string
     
     @param argv: Command line arguments to this program. ROS reads
@@ -158,7 +158,11 @@ def init_node(name, argv=sys.argv, anonymous=False, log_level=INFO, disable_rost
     @type  disable_rostime: bool
 
     @raise ROSInitException: if initialization/registration fails
+    @raise ValueError: if parameters are invalid (e.g. name contains a namespace or is otherwise illegal)
     """
+    # TODO use roslib.names.is_legal_name to really validate
+    if rospy.names.SEP in name:
+        raise ValueError("name cannot contain a namespace")
     
     global _init_node_args
 

test/test_rospy/test/test_rospy_client.py

@@ -49,6 +49,23 @@ import rospy
 
 class TestRospyClient(unittest.TestCase):
     
+    def test_init_node(self):
+        failed = True
+        try:
+            # #1822
+            rospy.init_node('ns/node')
+        except ValueError:
+            failed = False
+        self.failIf(failed, "init_node allowed '/' in name")
+
+    def test_spin(self):
+        failed = True
+        try:
+            rospy.spin()
+        except rospy.ROSInitException:
+            failed = False
+        self.failIf(failed, "spin() should failed if not initialized")
+        
     def test_myargv(self):
         orig_argv = sys.argv
         try: