Fix auto-completed YAML string for ros2service

ros2cli/ros2cli/helpers.py

@@ -20,10 +20,11 @@
 import subprocess
 import sys
 import time
-
 from typing import Dict
 from typing import Optional
 
+from argcomplete import CompletionFinder
+
 
 def get_ros_domain_id():
     return int(os.environ.get('ROS_DOMAIN_ID', 0))
@@ -238,3 +239,28 @@ def interactive_select(
     except (OSError, subprocess.SubprocessError) as e:
         print(f'Error during interactive selection: {e}', file=sys.stderr)
         return None
+
+
+class UnescapedCompletionFinder(CompletionFinder):
+
+    def quote_completions(
+        self,
+        completions: list[str],
+        cword_prequote: str,
+        last_wordbreak_pos: Optional[int],
+    ) -> list[str]:
+        """
+        Return completions without shell escaping.
+
+        Overrides the parent method to prevent mangling of YAML tokens
+        (dashes, braces, colons, etc.) that would otherwise be escaped
+        by the default shell quoting logic.
+
+        :param completions: List of completion strings to process.
+        :param cword_prequote: The quote character preceding the word
+            being completed, if any.
+        :param last_wordbreak_pos: Position of the last word-break
+            character in the current word, or None.
+        :return: The completions list, unmodified.
+        """
+        return completions

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))

ros2topic/ros2topic/api/__init__.py

@@ -19,8 +19,6 @@
 
 import warnings
 
-from argcomplete import CompletionFinder
-
 import rclpy
 
 from rclpy.expand_topic_name import expand_topic_name
@@ -163,17 +161,6 @@ def _get_msg_class(node, topic, include_hidden_topics):
         raise RuntimeError("The message type '%s' is invalid" % message_type)
 
 
-class YamlCompletionFinder(CompletionFinder):
-    def quote_completions(
-        self, completions: list[str],
-            cword_prequote: str, last_wordbreak_pos: Optional[int]):
-
-        # For YAML content, return as-is without escaping
-        if not any('-' in c for c in completions):
-            return completions
-        return super().quote_completions(completions, cword_prequote, last_wordbreak_pos)
-
-
 class TopicMessagePrototypeCompleter:
     """Callable returning a message prototype."""
 

ros2topic/ros2topic/verb/pub.py

@@ -22,14 +22,14 @@
 from rclpy.node import Node
 from rclpy.qos import QoSProfile
 
-from ros2cli.helpers import collect_stdin
+from ros2cli.helpers import collect_stdin, UnescapedCompletionFinder
 from ros2cli.node.direct import add_arguments as add_direct_node_arguments
 from ros2cli.node.direct import DirectNode
 from ros2cli.qos import add_qos_arguments
 from ros2cli.qos import profile_configure_short_keys
 
 from ros2topic.api import positive_float
-from ros2topic.api import TopicMessagePrototypeCompleter, YamlCompletionFinder
+from ros2topic.api import TopicMessagePrototypeCompleter
 from ros2topic.api import TopicNameCompleter
 from ros2topic.api import TopicTypeCompleter
 from ros2topic.verb import VerbExtension
@@ -115,8 +115,8 @@ def add_arguments(self, parser, cli_name):
             '-n', '--node-name',
             help='Name of the created publishing node')
 
-        # Use the custom completion finder
-        argcomplete.autocomplete = YamlCompletionFinder(parser)
+        # Prevent argcomplete from escaping special characters in the YAML string
+        argcomplete.autocomplete = UnescapedCompletionFinder(parser)
 
         add_qos_arguments(parser, 'publish', 'default')
         add_direct_node_arguments(parser)