Enable ros2service call to accept YAML input without escaping special characters

Signed-off-by: Leander Stephen D'Souza <leanderdsouza1234@gmail.com>

Author: leander-dsouza

ros2service/ros2service/api/__init__.py

@@ -140,4 +140,5 @@ def __init__(self, *, service_type_key=None):
 
     def __call__(self, prefix, parsed_args, **kwargs):
         service = get_service(getattr(parsed_args, self.service_type_key))
-        return [message_to_yaml(service.Request())]
+        yaml_snippet = "'" + message_to_yaml(service.Request()) + "'"
+        return [yaml_snippet]

ros2service/ros2service/verb/call.py

@@ -15,11 +15,13 @@
 import time
 from typing import Optional
 
+import argcomplete
+
 import rclpy
 from rclpy.qos import QoSPresetProfiles
 from rclpy.qos import QoSProfile
 
-from ros2cli.helpers import collect_stdin
+from ros2cli.helpers import collect_stdin, UnescapedCompletionFinder
 from ros2cli.helpers import interactive_select
 from ros2cli.node import NODE_NAME_PREFIX
 from ros2cli.node.strategy import NodeStrategy
@@ -67,6 +69,10 @@ def add_arguments(self, parser, cli_name):
         parser.add_argument(
             '-r', '--rate', metavar='N', type=float,
             help='Repeat the call at a specific rate in Hz')
+
+        # Prevent argcomplete from escaping special characters in the YAML string
+        argcomplete.autocomplete = UnescapedCompletionFinder(parser)
+
         add_qos_arguments(parser, 'service client', 'services_default')
 
     def main(self, *, args):
@@ -117,7 +123,16 @@ def requester(service_type: str, service_name: str, values, period: Optional[flo
     except (AttributeError, ModuleNotFoundError):
         raise RuntimeError('The passed service type is invalid')
 
-    values_dictionary = yaml.safe_load(values)
+    try:
+        # Handle cases where the user pastes the autocompleted bash safe string
+        if '^J' in values:
+            values = values.replace("'", '')
+            values = values.replace('^J', '\n')
+
+        values_dictionary = yaml.safe_load(values)
+
+    except (yaml.parser.ParserError, yaml.scanner.ScannerError):
+        return 'The passed value needs to be in YAML string or a dictionary'
 
     with rclpy.init():
         node = rclpy.create_node(NODE_NAME_PREFIX + '_requester_%s_%s' % (package_name, srv_name))