Add ros::removeROSArgs() (#1656)

core/roscpp/include/ros/init.h

@@ -178,6 +178,16 @@ bool isStarted();
  */
 CallbackQueue* getGlobalCallbackQueue();
 
+/**
+ * \brief returns a vector of program arguments that do not include any ROS remapping arguments.  Useful if you need
+ * to parse your arguments to determine your node name
+ *
+ * \param argc the number of command-line arguments
+ * \param argv the command-line arguments
+ * \param [out] args_out Output args, stripped of any ROS args
+ */
+void removeROSArgs(int argc, const char** argv, V_string& args_out);
+
 }
 
 #endif

core/roscpp/src/libros/init.cpp

@@ -419,6 +419,19 @@ void init(const VP_string& remappings, const std::string& name, uint32_t options
   init(remappings_map, name, options);
 }
 
+void removeROSArgs(int argc, const char** argv, V_string& args_out)
+{
+  for (int i = 0; i < argc; ++i)
+  {
+    std::string arg = argv[i];
+    size_t pos = arg.find(":=");
+    if (pos == std::string::npos)
+    {
+      args_out.push_back(arg);
+    }
+  }
+}
+
 void spin()
 {
   SingleThreadedSpinner s;

core/roscpp/test/CMakeLists.txt

@@ -15,3 +15,6 @@ target_link_libraries(test/test_subscription_queue ros)
 
 rosbuild_add_gtest(test/test_names test_names.cpp)
 target_link_libraries(test/test_names ros)
+
+rosbuild_add_gtest(test/test_args test_args.cpp)
+target_link_libraries(test/test_args ros)

core/roscpp/test/test_args.cpp

@@ -0,0 +1,70 @@
+/*
+ * Copyright (c) 2009, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+/* Author: Josh Faust */
+
+/*
+ * Test Header serialization/deserialization
+ */
+
+#include <gtest/gtest.h>
+#include "ros/init.h"
+
+using namespace ros;
+
+TEST(Args, removeROSArgs)
+{
+  const char* argv[] =
+  {
+    "hello",
+    "goodbye",
+    "__name:=asdf",
+    "__log:=fdsa",
+    "a:=b"
+  };
+
+  V_string args;
+  ros::removeROSArgs(5, argv, args);
+
+  ASSERT_TRUE(std::find(args.begin(), args.end(), "hello") != args.end());
+  ASSERT_TRUE(std::find(args.begin(), args.end(), "goodbye") != args.end());
+  ASSERT_TRUE(std::find(args.begin(), args.end(), "__name:=asdf") == args.end());
+  ASSERT_TRUE(std::find(args.begin(), args.end(), "__log:=fdsa") == args.end());
+  ASSERT_TRUE(std::find(args.begin(), args.end(), "a:=b") == args.end());
+}
+
+
+int
+main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}
+
+