Merge pull request #4 from yushijinhun/patch-1

Add package & executable parameter to container

README.md

@@ -110,6 +110,12 @@ This syntax adds the `composition/composition::Talker` as a ComposableNode
     sl.node(package='composition', plugin='Talker', name='talker')
 ```
 
+Use the `executable` and `package` parameters if you want to use executors other than `rclcpp_components`'s `component_container`:
+
+```
+  with sl.container(name='my_container', output='screen', executable='component_container_isolated'):
+```
+
 ## Simulation and `use_sim_time`
 
 Instanciating `sl = SimpleLauncher(use_sim_time = True)` is equivalent to:

src/simple_launch/__init__.py

@@ -410,7 +410,7 @@ def group(self, ns=None, if_arg=None, unless_arg=None, if_condition=None, unless
 
 
     @contextmanager
-    def container(self, name, namespace = '', existing = False, **container_args):
+    def container(self, name, namespace = '', existing = False, package='rclcpp_components', executable='component_container', **container_args):
         '''
         Opens a Composition group to add nodes
         If existing is True, then loads nodes in the (supposely) existing container
@@ -437,8 +437,8 @@ def container(self, name, namespace = '', existing = False, **container_args):
                 ComposableNodeContainer(
                 name=name,
                 namespace=namespace,
-                package='rclcpp_components',
-                executable='component_container',
+                package=package,
+                executable=executable,
                 composable_node_descriptions=new_entities,
                 **container_args))