Add support for positional target frame arguments for transform wrench node (#2040)

Author: vedh1234

force_torque_sensor_broadcaster/doc/userdoc.rst

@@ -44,11 +44,20 @@ The node subscribes to wrench messages from the broadcaster (either raw or filte
 
 Usage
 ^^^^^
-The wrench transformer node can be launched as a standalone executable:
+The wrench transformer can be launched with target frames passed directly as positional arguments:
 
 .. code-block:: bash
 
-   ros2 run force_torque_sensor_broadcaster wrench_transformer_node
+   ros2 run force_torque_sensor_broadcaster wrench_transformer_node frame1 frame2
+
+Target frames may also be set via the ``target_frames`` parameter:
+
+.. code-block:: bash
+
+   ros2 run force_torque_sensor_broadcaster wrench_transformer_node \
+     --ros-args -p target_frames:="['frame1','frame2']"
+
+Positional arguments override the parameter value when both are provided.
 
 Wrench Transformer Parameters
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

force_torque_sensor_broadcaster/src/wrench_transformer.cpp

@@ -21,6 +21,7 @@
 #include <limits>
 #include <memory>
 #include <string>
+#include <vector>
 
 #include "tf2/utils.hpp"
 
@@ -186,8 +187,17 @@ void WrenchTransformer::setup_publishers()
 
 int run_wrench_transformer(int argc, char ** argv)
 {
-  rclcpp::init(argc, argv);
+  std::vector<std::string> non_ros_args = rclcpp::init_and_remove_ros_arguments(argc, argv);
+  std::vector<std::string> target_frames_args;
+  for (size_t i = 1; i < non_ros_args.size(); ++i)
+  {
+    target_frames_args.push_back(non_ros_args[i]);
+  }
   rclcpp::NodeOptions options;
+  if (!target_frames_args.empty())
+  {
+    options.append_parameter_override("target_frames", rclcpp::ParameterValue(target_frames_args));
+  }
   auto node = std::make_shared<WrenchTransformer>(options);
   node->init();
   rclcpp::spin(node);

force_torque_sensor_broadcaster/test/test_wrench_transformer.cpp

@@ -688,6 +688,39 @@ TEST_F(TestWrenchTransformer, RunWrenchTransformerFunction)
   rclcpp::init(0, nullptr);
 }
 
+TEST_F(TestWrenchTransformer, RunWrenchTransformerWithPositionalArgs)
+{
+  rclcpp::shutdown();
+
+  // Prepare test arguments with positional arguments
+  // This simulates how the node would be launched with positional arguments directly
+  int argc = 3;
+  char arg0[] = "test_wrench_transformer";
+  char arg1[] = "base_link";
+  char arg2[] = "end_effector";
+  char * argv[] = {arg0, arg1, arg2, nullptr};
+
+  std::atomic<bool> function_started{false};
+  std::thread test_thread(
+    [&]()
+    {
+      function_started = true;
+      force_torque_sensor_broadcaster::run_wrench_transformer(argc, argv);
+    });
+
+  std::this_thread::sleep_for(std::chrono::milliseconds(300));
+  EXPECT_TRUE(function_started);
+
+  rclcpp::shutdown();
+
+  if (test_thread.joinable())
+  {
+    test_thread.join();
+  }
+
+  rclcpp::init(0, nullptr);
+}
+
 int main(int argc, char ** argv)
 {
   ::testing::InitGoogleMock(&argc, argv);