Changelog for package launch

3.9.0 (2025-04-24)

3.8.1 (2025-04-18)

• Provide copy of launch configs to TimerAction's entities (#836)
• Allow concatenating each path component of PathJoinSubstitution (#838)
• Add StringJoinSubstitution substitution (#843)
• Add missing test_depend for launch (#850)
• Document substitutions concatenation in architecture doc (#845)
• Update docs to use proper RST literals (#837)
• Fix function params indentation (#833)
• Contributors: Christian Ruf, Christophe Bedard, Michael Carlstrom

3.8.0 (2025-02-27)

• Add ForEach action to repeat entities using iteration-specific values (#802)
• Create py.typed (#828)
• Improve error reporting by adding file locations to exceptions (#823)
• add test coverage for substitution edgecases involving E notation (#824)
• Cleanup the launch dependencies. (#819)
• Contributors: Chris Lalancette, Christophe Bedard, Michael Carlstrom, Roland Arsenault, danielcranston

3.7.1 (2024-12-20)

• Fix 'set up' typo (#813)
• Contributors: Christophe Bedard

3.7.0 (2024-11-20)

• Add test_xmllint to all of the ament_python packages. (#804)
• Contributors: Chris Lalancette

3.6.1 (2024-07-29)

3.6.0 (2024-06-25)

3.5.1 (2024-06-17)

• Fix typo in comment (#783)
• Contributors: Christophe Bedard

3.5.0 (2024-04-26)

3.4.2 (2024-04-16)

• (launch) fix describe of PathJoinSubstitution (#771)
• Contributors: Matthijs van der Burgh

3.4.1 (2024-03-28)

• Small fixes for modern flake8. (#772)
• Cleanup some type annotations.
• Contributors: Chris Lalancette

3.4.0 (2024-02-07)

• Rework task exceptions loop. (#755)
• add format overriding by environment variables (#722)
• Add exception type to error output (#753)
• Contributors: Chris Lalancette, David Yackzan, Marc Bestmann

3.3.0 (2024-01-24)

• Let XML executables/nodes be "required" (like in ROS 1) (#751)
• Contributors: Matthew Elwin

3.2.1 (2023-12-26)

3.2.0 (2023-10-04)

• Add conditional substitution (#734)
• Contributors: Nick Lamprianidis

3.1.0 (2023-09-08)

• Add maximum times for a process to respawn (#696)
• Contributors: Santti4go

3.0.1 (2023-09-07)

• Add in a timeout for launch pytests. (#725)
• Contributors: Chris Lalancette

3.0.0 (2023-08-21)

• Fix remaining occurrences of "There is no current event loop" (#723)
• Update the launch code for newer flake8 and mypy. (#719)
• Remove the deprecated some_actions_type.py (#718)
• Contributors: Chris Lalancette

2.2.1 (2023-07-11)

• Improve launch file parsing error messages (#626)
• Contributors: Timon Engelke

2.2.0 (2023-06-07)

• Add file-content launch substitution (#708)
• Contributors: Scott K Logan

2.1.0 (2023-04-27)

2.0.1 (2023-04-12)

• Document LaunchService.{run,run_async}() return value (#702)
• Contributors: Christophe Bedard

2.0.0 (2023-04-11)

• [rosdoc2] Fix document generation on buildfarm (#701)
• Enable document generation using rosdoc2 for ament_python pkgs (#697)
• Remove the import of Literal from entity.py. (#694)
• Fix flake8 errors. (#695)
• add symlink to latest log directory (#686)
• Improve type checking (#679)
• Contributors: Chris Lalancette, Hervé Audren, Welte, Yadu

1.4.1 (2023-02-24)

• Fixed typos (#692)
• Contributors: Alejandro Hernández Cordero

1.4.0 (2023-02-14)

• Pass modules to PythonExpression (#655)
• Allow ReadyToTest() usage in event handler (#665)
• Expose emulate_tty to xml and yaml launch (#669)
• Expose sigterm_timeout and sigkill_timeout to xml frontend (#667)
• [rolling] Update maintainers - 2022-11-07 (#671)
• Contributors: Aditya Pande, Audrow Nash, Blake Anderson, Nikolai Morin

1.3.0 (2022-11-02)

• Expect deprecation warnings in tests (#657)
• Fix the restoring of os.environ to maintain type. (#656)
• Implement Any, All, Equals, and NotEquals substitutions (#649)
• add LaunchLogDir substitution, replacing log_dir frontend only substitution (#652)
• Add special cases to coerce "1" and "0" to bool when using bool coercion only (#651)
• Contributors: Chris Lalancette, Jacob Perron, William Woodall, methylDragon

1.2.0 (2022-09-13)

• Update launch/test/launch/test_execute_local.py
• Added unit test ensuring that output dictionary works with ExecuteLocal
• Addresses issue #588, allowing dict for 'output'
• Contributors: Matthew Elwin, Michael Jeronimo

1.1.0 (2022-04-29)

• Remove unused variables. (#612)
• Expose shutdown action to xml frontend (#611)
• Contributors: Aditya Pande, Chris Lalancette

1.0.1 (2022-04-13)

• Sandbox environment in tests to fix repeated job failures (#609)
• Contributors: Shane Loretz

1.0.0 (2022-04-12)

0.23.1 (2022-04-08)

• Start Python faster in test_execute_processs_shutdown to avoid flakey failures (#608)
• Fix warnings from importlib_metdata on Python 3.10. (#606)
• Contributors: Chris Lalancette, Shane Loretz

0.23.0 (2022-03-30)

• Add boolean substitutions (#598)
• Contributors: Kenji Miyake

0.22.0 (2022-03-28)

• Support scoping environment variables (#601)
• Fix awaiting shutdown in launch context (#603)
• Fix parse respawn var (#569)
• Make the logged command pretty in ExecuteLocal (#594)
• Contributors: Jacob Perron, Kosuke Takeuchi

0.21.1 (2022-03-01)

• 'output' is expanded as a substitution in XML/YAML files (#577)
• Skip warning test if warning already happend (#585)
• Contributors: Khush Jain, Shane Loretz

0.21.0 (2022-01-14)

• Use asyncio.wait with timeout rather than sleep (#576)
• Make test_parser compatible with Python older than 3.8 (#575)
• Propagate exceptions of completed actions to launch service main loop (#566)
• Warn when loading launch extensions fails (#572)
• Add in two fixes for Jammy (#571)
• Contributors: Chris Lalancette, Scott K Logan, Shane Loretz, tumtom

0.20.0 (2021-11-29)

• Evaluate math symbols and functions in python expression (#557)
• Document TimerAction params (#558)
• Improve launch arguments introspection (#556)
• Update maintainers to Aditya Pande and Michel Hidalgo (#559)
• Updated maintainers (#555)
• First prototype of native pytest plugin for launch based tests (#528)
• Allow for raw path specification in IncludeLaunchDescription (#544)
• Adding Executable description class (#454)
• event handlers: Allow to match the target action with a callable and not only with an object instance (#540)
• Add AppendEnvironmentVariable action (#543)
• Document EnvironmentVariable substitution resolution context caveat (#541)
• Feature clear launch configs (#515)
• Add examples to ExecuteProcess docs (#525)
• Fix [DeclareLaunchArgument]{.title-ref} xml parsing and constructor (#529)
• Fix pytest run on Windows (#526)
• Improving docs (#523)
• Add filtering mechanism for executable prefix application (#522)
• Contributors: Aditya Pande, Audrow Nash, Cameron Miller, Christophe Bedard, David V. Lu!!, Derek Chopp, Immanuel Martini, Ivan Santiago Paunovic, roger-strain

0.19.0 (2021-07-15)

• Make each parser extension provide a set of file extensions (#516)
• Contributors: Christophe Bedard

0.18.0 (2021-06-18)

• Add missing exec dependency on PyYAML (#493)
• Refactor TimerAction to allow RosTimer to extend (#512)
• Improve (Not)Equals condition type hinting (#510)
• Contributors: HMellor, Rebecca Butler, Scott K Logan

0.17.0 (2021-04-06)

• Only try to wrap the fd in a socket on Windows (#498)
• Close the socket pair used for signal management (#497)
• Remove is_winsock_handle() and instead test if wrapping the handle in a socket.socket() works (#494)
• Add frontend substitution for logging directory (#490)
• Contributors: Ivan Santiago Paunovic, Jacob Perron

0.16.0 (2021-03-19)

• Add arg_choice arg to DeclareLaunchArguments (#483)
• Contributors: Victor Lopez

0.15.0 (2021-01-25)

• Support Python 3.8-provided importlib.metadata (#482)
• Workaround asyncio signal handling on Unix (#479)
• Handle signals within the asyncio loop. (#476)
• Support non-interactive launch.LaunchService runs (#475)
• Contributors: Michel Hidalgo, Scott K Logan

0.14.0 (2020-12-08)

• print stderr message when command failed (#474)
• Add frontend support for LogInfo action (#467)
• Contributors: Jacob Perron, Takamasa Horibe

0.13.0 (2020-11-04)

• Validate unparsed attributes and subentities in launch_xml and launch_yaml (#468)
• Fix bug in launch.actions.TimerAction.parse() (#470)
• Allow configuring logging directory through environment variables (#460)
• Update package maintainers (#465)
• Expose Timer action in launch xml (#462)
• Fix dollar symbols in substitution grammar (#461)
• Contributors: Christophe Bedard, Ivan Santiago Paunovic, Michel Hidalgo

0.12.0 (2020-08-18)

• Add new conditions for checking launch configuration values (#453)
• Contributors: Jacob Perron

0.11.1 (2020-08-14)

• Refactor launch service run_async loop to wait on futures and queued events (#449)
• Fix documentation typo (#446)
• Fix type_utils.extract_type() function. (#445)
• Contributors: Jacob Perron, Michel Hidalgo

0.11.0 (2020-08-04)

• Handle empty strings in type coercion. (#443)
• Consolidate type_utils in a way that can be reused in substitution results that need to be coerced to a specific type (#438)
• Delete unnecessary loading of 'launch.frontend.interpolate_substitution_method' entry point that was never used (#434)
• Avoid side effect, defer until needed (#432)
• Remove pkg_resources, replace it with the use of the more modern importlib* libraries. (#430)
• Remove the asyncio.wait loop parameter. (#429)
• Add pytest.ini so local tests don't display warning (#428)
• Defer shutdown if already running (#427)
• Add respawn and respawn_delay support (#426)
• Fix up parser.py (#414)
• Contributors: CHEN, Chris Lalancette, Dan Rose, Dirk Thomas, Ivan Santiago Paunovic, Jorge Perez, Michel Hidalgo

0.10.2 (2020-05-26)

• Fix new flake8 errors. (#420)
• Contributors: Michel Hidalgo

0.10.1 (2020-05-08)

• removed deprecated loop parameter call (#387) (#410)
• Contributors: Zahi Kakish

0.10.0 (2020-04-24)

• remove Python 3.5 specific logic (#401)
• use typing.TYPE_CHECKING to avoid flake8 failure (#398)
• Suppress flake8 A003 warning (#395)
• more verbose test_flake8 error messages (same as ros2/launch_ros#135)
• Remove unnecessary overloads (#389)
• Simplify type annotation (#388)
• Add support for anon substitution (#384)
• Make RegisterEventHandler describe its sub-entities (#386)
• Fix parsing of cmd line arguments in XML and yaml file (#379)
• Only allow ExecuteProcess actions to execute once (#375)
• Fix grammar in docstring (#373)
• Release loop lock before waiting for it to do work (#369)
• Adds [Command]{.title-ref} substitution (#367)
• Handle case where output buffer is closed during shutdown (#365)
• Use imperative mood in docstrings. (#362)
• Contributors: Dirk Thomas, Ivan Santiago Paunovic, Jacob Perron, Jorge Perez, Peter Baughman, Shane Loretz, Steven! Ragnarök, William Woodall

0.9.5 (2019-11-13)

• fix PendingDeprecationWarning about asyncio.Task.current_task (#355)
• import collections.abc (#354)
• Contributors: Dirk Thomas

0.9.4 (2019-11-08)

• Fix ExecuteProcess.get_sub_entities() implementation. (#353)
• Contributors: Michel Hidalgo

0.9.3 (2019-10-23)

0.9.2 (2019-10-23)

0.9.1 (2019-09-25)

• Fix error in ExecuteProcess parse classmethod (#339)
• Add support to ignore fields when parsing ExecuteProcess. (#336)
• Make parse_substitution handle zero-width text. (#335)
• Fix InvalidLaunchFileError error message. (#333)
• Fix default Action describe_conditional_sub_entities() implementation. (#334)
• Contributors: Michel Hidalgo, ivanpauno

0.9.0 (2019-09-18)

• Fix "'GroupAction' object has no attribute 'actions'" error (#327)
• install package marker and manifest (#323)
• Make IncludeLaunchDescription force launch_arguments (#284)
• fix expectation for test on Windows (#319)
• Improve error message when a failing to include launch file (#315)
• Fix launch argument listing/checking issues (#310)
• Support LaunchService injection into pre-shutdown tests. (#308)
• Fix test_expose_decorators failures (#307)
• Add assertWaitForStartup method to match assertWaitForShutdown (#278)
• Add support for conditions in IncludeLaunchDescription actions (#304)
• Convert list comprehension to generator (#300)
• Don't create a log directory every time the launch logger is imported. (#299)
• Avoid registering atexit on windows (#297)
• Correct launch service sigterm handling (#294)
• fix encoding handling when writing to stdout and log files (#280)
• More idiomatic typecheck-only imports (#285)
• Add deprecated argument to LaunchDescriptionn (#291)
• Add support for not optional environment variable substitution (#288)
• Add parsing method to PythonExpression substitution (#281)
• Revert "Revert "[execute_process] emulate_tty configurable and defaults to true"" (#277)
• Refactor [launch.frontend]{.title-ref} file loading (#271)
• Revert "[execute_process] emulate_tty configurable and defaults to true (#265)" (#276)
• fix linter warnings (#274)
• [execute_process] emulate_tty configurable and defaults to true (#265)
• Add parsing method for dirname substitution (#273)
• Add parsing methods for SetEnviromentVariable and UnsetEnviromentVariable (#272)
• Add parsing method for [DeclareLaunchArgument]{.title-ref} (#270)
• Add frontend module in launch, launch_xml and launch_yaml packages (#226)
• Add PathJoinSubstitution (#266)
• Fix EventHandler type hints (#264)
• Fix build_cop #214 (#259)
• Fix get_launch_arguments to not crash on conditional sub entities (#257)
• Use stderr logger instead of buffer (#258)
• Line buffering of logger output (#255)
• Contributors: Chris Lalancette, Dan Rose, Daniel Stonier, Dirk Thomas, Jacob Perron, Michel Hidalgo, Peter Baughman, Scott K Logan, William Woodall, ivanpauno

0.8.3 (2019-05-29)

• Changed IncludeLaunchDescription to not check declared arguments of subentities in order to work around an issue preventing nested arugments until a better fix can be done. (#249)
• Fixed a bug where logging messages could be duplicated and improved logging's apperance on the CLI. (#250)
• Contributors: Michel Hidalgo, ivanpauno

0.8.2 (2019-05-20)

• Moved some common code to LaunchDescriptionSource (#234)
• Please flake8 on launch package. (#241)
• Allow substitution in variable_name of LaunchConfiguration substitutions (#235)
• Add support for custom launch log file handling (#233)
• Contributors: Michel Hidalgo, ivanpauno

0.8.1 (2019-05-08)

0.8.0 (2019-04-13)

• Added SetEnvironmentVariable and UnsetEnvironmentVariable actions #164 (#216)
• Used one sentence per line in docs. (#219)
• Added support for external ExecuteProcess output overrides. (#218)
• Logged the launch logging config before running. (#217)
• Fixed treating stderr output separate from stdout. (#212)
• Replaced characters with marker when there is a decoding error. (#202)
• Added LaunchLogger class. (#145)
• Added test actions. (#178)
• Fixed to close subprocess transport on execute action cleanup. (#198)
• Updated logger.warn (deprecated) to logger.warning. (#199)
• Dropped legacy launch package. (#191)
• Migrated legacy launch API tests. (#167)
• Updated to cancel Timers on shutdown. (#181)
• Fixed timer global init of event handler. (#184)
• Added support for required nodes (#179)
• Updated to ensure event handlers add event to context locals. (#177)
• Added OnProcessStart event handler. (#171)
• Corrected OnProcessExit typing for Callable. (#170)
• Removed whitespace in keyword arg. (#169)
• Contributors: Dirk Thomas, Jacob Perron, Kyle Fazzari, Michel Hidalgo, Peter Baughman, Shane Loretz, William Woodall, ivanpauno, oswinso

0.7.3 (2018-12-13)

• Fixed deprecation warning related to collections.abc (#158)
• Contributors: William Woodall

0.7.2 (2018-12-06)

• Changed the signit handler os it executes the shutdown event synchronously (#156)
• Contributors: Jonathan Chapple, Steven! Ragnarök, William Woodall

0.7.1 (2018-11-16)

• Fixed setup.py versions (#155)
• Contributors: Steven! Ragnarök

0.7.0 (2018-11-16)

• Fixed a bug to ensure that shutdown event is handled correctly (#154)
  • There was a potential race condition in between when the shutdown event is emitted and the rest of the shutdown handling code.
  • This introduces an additional await to ensure that the event is emitted before proceeding.
• Fixed example to always use shell to avoid inconsistency of time being a shell command or executable (#150)
• Added tests for class_tools module and fix is_a_subclass() (#142)
• Added tests for the utilities module (#143)
• Added 'handle_once' property for unregistering an EventHandler after one event (#141)
• Added UnregisterEventHandler action (#110)
• Changed LaunchService so that it returns 1 on caught exceptions from within launch (#136)
• Added ability to define and pass launch arguments to launch files (#123)
  • Added self descriptions for substitutions
  • Added tracebacks back to the output by default
  • Added new actions for declaring launch arguments
  • Added new method on LaunchDescription which gets all declared arguments within
  • Added ability to pass arguments when including a launch description
  • Added description for local variables used in Node action
  • Added ability to show and pass launch arguments on the command line
  • Added an accessor for the Condition of an Action
  • Signed-off-by: William Woodall <<william@osrfoundation.org>>
• Added UnsetLaunchConfiguration action and tests (#134)
  • Signed-off-by: William Woodall <<william@osrfoundation.org>>
• Added GroupAction for conditionally including other actions and scoping (#133)
  • Signed-off-by: William Woodall <<william@osrfoundation.org>>
• Added optional name argument to ExecuteProcess (#129)
  • Signed-off-by: William Woodall <<william@osrfoundation.org>>
• Added a new pair of actions for pushing and popping launch configurations (#128)
  • Signed-off-by: William Woodall <<william@osrfoundation.org>>
• Contributors: Dirk Thomas, Jacob Perron, Michael Carroll, William Woodall, dhood

0.6.0 (2018-08-20)

• Added a way to include other Python launch files (#122)
  • Signed-off-by: William Woodall <<william@osrfoundation.org>>
• Implemented the concept of Action conditions (#121)
  • Signed-off-by: William Woodall <<william@osrfoundation.org>>
• Added IncludeLaunchDescription action (#120)
  • fixes #115
  • Signed-off-by: William Woodall <<william@osrfoundation.org>>
• Contributors: William Woodall

0.5.2 (2018-07-17)

• Made a change to avoid reentrancy of signal handlers (#99)
• Ignored warning for builtins A003 (#100)
• Fixed exception when launch process with environment variables (#96)
• Contributors: Shane Loretz, William Woodall, dhood

0.5.1 (2018-06-27)

• Changed the behavior when signaling SIGINT to subprocesses on Windows, where it now does SIGTERM instead, because SIGINT causes a ValueError about SIGINT being an unsupported signal number. (#94)
• Fixed a bug by avoiding reentrancy in the SIGINT signal handler. (#92)
• Various Windows fixes. (#87)
  • LaunchService.run() now returns non-0 when there are exceptions in coroutines.
  • Updated launch_counters.py example for Windows.
  • Fixed a bug that would cause mismatched asyncio loops in some futures.
  • Addressed the fact that signal.SIGKILL doesn’t exist on Windows, so emulate it in our Event.
  • Fixed an issue that resulted in spurious asyncio errors in LaunchService test.
• Contributors: William Woodall, dhood

0.5.0 (2018-06-19)

• Fixed a bug where unclosed asyncio loops caused a traceback on the terminal on exit, but only in Python 3.5 (#85)
• Changed to use variable typing in comments to support python 3.5 (#81)
• New launch API (#74)
  • See pull request for more details and links to architecture documentation and the design doc.
• Moved launch source files into launch.legacy namespace (#73)
  • This was in preparation for the new launch API.
• [for launch.legacy] fixed a flake8 warning (#72)
• [for launch.legacy] set zip_safe to avoid warning during installation (#71)
• [for launch.legacy] Fix hang on keyboard interrupt (#69)
  • When keyboard interrupt exception occurs loop.run_forever is called. But there is no loop.stop call. This causes a hang.
• Contributors: Devin, Dirk Thomas, William Woodall, dhood