remove defaults

Author: ipa-rwu

ros2model/verb/running_node.py

@@ -1,6 +1,7 @@
 import re
 import sys
 from collections import namedtuple
+from itertools import filterfalse
 from pathlib import Path
 from typing import List
 
@@ -25,6 +26,35 @@
 
 ParamInfo = namedtuple("Topic", ("name", "types", "default"))
 
+BlackList_Subscribers = [
+    TopicInfo("/parameter_events", ["rcl_interfaces.ParameterEvent"])
+]
+BlackList_Publishers = [
+    TopicInfo("~/transition_event", ["lifecycle_msgs.TransitionEvent"]),
+    TopicInfo("/parameter_events", ["rcl_interfaces.ParameterEvent"]),
+    TopicInfo("/rosout", ["rcl_interfaces.Log"]),
+]
+BlackList_ServiceServers = [
+    TopicInfo("~/change_state", ["lifecycle_msgs.ChangeState"]),
+    TopicInfo("~/describe_parameters", ["rcl_interfaces.DescribeParameters"]),
+    TopicInfo("~/get_available_states", ["lifecycle_msgs.GetAvailableStates"]),
+    TopicInfo(
+        "~/get_available_transitions", [
+            "lifecycle_msgs.GetAvailableTransitions"]
+    ),
+    TopicInfo("~/get_parameter_types", ["rcl_interfaces.GetParameterTypes"]),
+    TopicInfo("~/get_parameters", ["rcl_interfaces.GetParameters"]),
+    TopicInfo("~/get_state", ["lifecycle_msgs.GetState"]),
+    TopicInfo("~/get_transition_graph",
+              ["lifecycle_msgs.GetAvailableTransitions"]),
+    TopicInfo("~/list_parameters", ["rcl_interfaces.ListParameters"]),
+    TopicInfo("~/set_parameters", ["rcl_interfaces.SetParameters"]),
+    TopicInfo(
+        "~/set_parameters_atomically", [
+            "rcl_interfaces.SetParametersAtomically"]
+    ),
+]
+
 
 def call_list_parameters(*, node, node_name, timeout=None):
     # create client
@@ -130,6 +160,10 @@ def create_a_node_model(self, target_node_name, output, if_param_value, args):
                 )
                 fix_topic_types(node_name, subscribers)
                 subscribers = fix_topic_names(node_name, subscribers)
+                subscribers = list(
+                    filterfalse(
+                        BlackList_Subscribers.__contains__, subscribers)
+                )
 
                 publishers = get_publisher_info(
                     node=node,
@@ -138,6 +172,9 @@ def create_a_node_model(self, target_node_name, output, if_param_value, args):
                 )
                 fix_topic_types(node_name, publishers)
                 publishers = fix_topic_names(node_name, publishers)
+                publishers = list(
+                    filterfalse(BlackList_Publishers.__contains__, publishers)
+                )
 
                 service_servers = get_service_server_info(
                     node=node,
@@ -146,6 +183,10 @@ def create_a_node_model(self, target_node_name, output, if_param_value, args):
                 )
                 fix_topic_types(node_name, service_servers)
                 service_servers = fix_topic_names(node_name, service_servers)
+                service_servers = list(
+                    filterfalse(
+                        BlackList_ServiceServers.__contains__, service_servers)
+                )
 
                 service_clients = get_service_client_info(
                     node=node,
@@ -175,7 +216,7 @@ def create_a_node_model(self, target_node_name, output, if_param_value, args):
 
         with DirectNode(args) as node:
             response = call_list_parameters(
-                node=node, node_name=node_name, timeout=5.0)
+                node=node, node_name=node_name, timeout=1.0)
 
             if response is not None:
                 sorted_names = sorted(response)