Improve axclient argument parsing (#189)

Strip trailing slash (equivalent to #132)
Enforce that the suffix if found at the end of the profided string
instead of anywhere in the string
Report parser error instead of asserts with obscure error message
Improve error message when topic type cannot be retrieved from ros
master
Enforce that goal topic is of *ActionGoal type instead of just *Goal
type

Signed-off-by: Mikael Arguedas <[email protected]>

Author: mikaelarguedas

Diff for: actionlib_tools/scripts/axclient.py

@@ -232,20 +232,26 @@ def main():
 
     (options, args) = parser.parse_args(rospy.myargv())
 
-    if (len(args) == 2):
+    if len(args) == 2:
         # get action type via rostopic
-        topic_type = rostopic._get_topic_type("%s/goal" % args[1])[0]
+        action_name = args[1].rstrip('/')
+        topic_type = rostopic._get_topic_type("%s/goal" % action_name)[0]
+        if topic_type is None:
+            parser.error("unable to retrieve the topic type for goal topic '{0}/goal'\nAre you sure the action server for '{0}' is running?".format(action_name))
         # remove "Goal" string from action type
-        assert("Goal" in topic_type)
-        topic_type = topic_type[0:len(topic_type)-4]
-    elif (len(args) == 3):
-        topic_type = args[2]
-        print(topic_type)
-        assert("Action" in topic_type)
+        if not topic_type.endswith("ActionGoal"):
+            parser.error("topic '%s/goal' is not an action goal topic" % action_name)
+        action_type = topic_type[:-4]
+    elif len(args) == 3:
+        action_type = args[2]
+        print(action_type)
+        action_suffix = "Action"
+        if not action_type.endswith(action_suffix):
+            parser.error("the action type provided '%s' doesn't end with the '%s' suffix" % (action_type, action_suffix))
     else:
         parser.error("You must specify the action topic name (and optionally type) Eg: ./axclient.py action_topic actionlib/TwoIntsAction ")
 
-    action = DynamicAction(topic_type)
+    action = DynamicAction(action_type)
     app = AXClientApp(action, args[1])
     app.MainLoop()
     app.OnQuit()