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hidmicwjwwood
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Resolve substitutions upon SecurityNodeActionExtension._setup_security() (#3)
* Resolve substitutions upon SecurityNodeActionExtension._setup_security() Signed-off-by: Michel Hidalgo <[email protected]> * normalize node package and node executable before performing substitutions Signed-off-by: William Woodall <[email protected]> Co-authored-by: William Woodall <[email protected]>
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ros2launch_security/node_action/security.py

Lines changed: 9 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -21,6 +21,7 @@
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from launch.launch_context import LaunchContext
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from launch.substitutions import LocalSubstitution
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from launch.utilities import normalize_to_list_of_substitutions
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from launch.utilities import perform_substitutions
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from launch_ros.actions.node import Node, NodeActionExtension
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import nodl
@@ -50,8 +51,14 @@ def _setup_security(
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) -> None:
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"""Enable encryption, creating a key for the node if necessary."""
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nodl_node = nodl.get_node_by_executable(
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package_name=node_action.node_package,
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executable_name=node_action.node_executable
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package_name=perform_substitutions(
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context,
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normalize_to_list_of_substitutions(node_action.node_package)
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),
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executable_name=perform_substitutions(
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context,
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normalize_to_list_of_substitutions(node_action.node_executable)
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)
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)
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self.__enclave = node_action.node_name.replace(

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