Launching composable nodes

[thomasegriffith]

Has anybody had success with launching composable nodes?

I'm following this python example with a launch target of:

ros2_launch(
    name = "composable_example_launch",
    launch_file = "composable_example_launch.py",
    nodes = ["//path/to/some/random:node"],
)

I run into the below error when bazel running the above launch file:

[ERROR] [launch]: Caught exception in launch (see debug for traceback): "package 'rclcpp_components' not found, searching: ['path/to/launch/file/composable_example_launch_launch_ament_setup']"

Any ideas how to get around this?

TIA!

[mvukov]

A rclcpp component basically behaves like a plugin. It looks like it needs a kind of a special registration. At the moment this doesn't work with rules_ros2.

[thomasegriffith]

Thanks! Is there anything I can help with, to get support added for this?

[mvukov]

Sure, it needs to be figured out how to register a component within the ament file-tree.

[thomasegriffith]

Cool. No guarantees, but I'll try to find some weekend to work on it.