Execute process refactor

launch_ros/launch_ros/actions/lifecycle_node.py

@@ -123,7 +123,7 @@ def unblock(future):
             self.__logger.error(
                 "Failed to make transition '{}' for LifecycleNode '{}'".format(
                     ChangeState.valid_transitions[request.transition.id],
-                    self.node_name,
+                    self.name,
                 )
             )
 
@@ -142,20 +142,20 @@ def execute(self, context: launch.LaunchContext) -> Optional[List[Action]]:
 
         Delegated to :meth:`launch.actions.ExecuteProcess.execute`.
         """
-        self._perform_substitutions(context)  # ensure self.node_name is expanded
-        if '<node_name_unspecified>' in self.node_name:
-            raise RuntimeError('node_name unexpectedly incomplete for lifecycle node')
+        self.prepare(context)  # ensure self.name is expanded
+        if '<node_name_unspecified>' in self.name:
+            raise RuntimeError('name unexpectedly incomplete for lifecycle node')
         node = get_ros_node(context)
         # Create a subscription to monitor the state changes of the subprocess.
         self.__rclpy_subscription = node.create_subscription(
             lifecycle_msgs.msg.TransitionEvent,
-            '{}/transition_event'.format(self.node_name),
+            '{}/transition_event'.format(self.name),
             functools.partial(self._on_transition_event, context),
             10)
         # Create a service client to change state on demand.
         self.__rclpy_change_state_client = node.create_client(
             lifecycle_msgs.srv.ChangeState,
-            '{}/change_state'.format(self.node_name))
+            '{}/change_state'.format(self.name))
         # Register an event handler to change states on a ChangeState lifecycle event.
         context.register_event_handler(launch.EventHandler(
             matcher=lambda event: isinstance(event, ChangeState),

launch_ros/launch_ros/actions/load_composable_nodes.py

@@ -210,7 +210,7 @@ def execute(
         # resolve target container node name
 
         if is_a_subclass(self.__target_container, ComposableNodeContainer):
-            self.__final_target_container_name = self.__target_container.node_name
+            self.__final_target_container_name = self.__target_container.name
         elif isinstance(self.__target_container, SomeSubstitutionsType_types_tuple):
             subs = normalize_to_list_of_substitutions(self.__target_container)
             self.__final_target_container_name = perform_substitutions(
@@ -261,11 +261,11 @@ def get_composable_node_load_request(
     request.plugin_name = perform_substitutions(
         context, composable_node_description.node_plugin
     )
-    if composable_node_description.node_name is not None:
+    if composable_node_description.name is not None:
         request.node_name = perform_substitutions(
-            context, composable_node_description.node_name
+            context, composable_node_description.name
         )
-    expanded_ns = composable_node_description.node_namespace
+    expanded_ns = composable_node_description.namespace
     if expanded_ns is not None:
         expanded_ns = perform_substitutions(context, expanded_ns)
     base_ns = context.launch_configurations.get('ros_namespace', None)