fix: quote POSIX world paths at launch entry points

examples/posim_demos/CMakeLists.txt

@@ -8,4 +8,9 @@ install(
   DESTINATION share/posim_demos
 )
 
+if(BUILD_TESTING)
+  find_package(ament_cmake_pytest REQUIRED)
+  ament_add_pytest_test(test_world_paths test/test_world_paths.py)
+endif()
+
 ament_package()

examples/posim_demos/launch/posim_robot.launch.py

@@ -1,3 +1,5 @@
+import os
+import shlex
 import xml.etree.ElementTree as ET
 
 from launch import LaunchDescription
@@ -11,6 +13,11 @@
 from launch_ros.substitutions import FindPackageShare
 
 
+def _quote_path(path):
+    # Keep Windows shell handling unchanged; shlex.quote is POSIX-only.
+    return shlex.quote(path) if os.name == "posix" else path
+
+
 def launch_setup(context, *args, **kwargs):
     paused = LaunchConfiguration("paused")
     gui = LaunchConfiguration("gui")
@@ -47,10 +54,10 @@ def launch_setup(context, *args, **kwargs):
         if world_element is None or not world_element.get("name"):
             raise ValueError(f"World file [{world_filename}] does not declare a world name")
         world_entity_name = world_element.get("name")
-        gz_args = [world_filepath]
+        gz_args = [_quote_path(world_filepath.perform(context))]
     else:
         world_entity_name = "empty"
-        gz_args = [world_name]
+        gz_args = [_quote_path(world_name.perform(context))]
 
     zoom_camera_value = "true" if selected_world_name == "posim_ocean_waves" else "false"
 

examples/posim_demos/launch/posim_world.launch.py

@@ -1,11 +1,17 @@
 import os
+import shlex
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, OpaqueFunction, IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
 
 
+def _quote_path(path):
+    # Keep Windows shell handling unchanged; shlex.quote is POSIX-only.
+    return shlex.quote(path) if os.name == "posix" else path
+
+
 def launch_setup(context, *args, **kwargs):
 
     pkg_posim_worlds = get_package_share_directory("posim_worlds")
@@ -19,7 +25,7 @@ def launch_setup(context, *args, **kwargs):
     world_path = os.path.join(pkg_posim_worlds, "worlds", world_file_name)
 
     # Gazebo simulation launch
-    gz_args = f"-r {world_path}"
+    gz_args = f"-r {_quote_path(world_path)}"
     if verbose_flag.lower() == "true":
         gz_args += " --verbose"
     if headless_flag.lower() == "true":

examples/posim_demos/package.xml

@@ -8,6 +8,10 @@
   <maintainer email="kys50728@g.kmou.ac.kr">Ye-Seol Kwon</maintainer>
   <license>Apache 2.0</license>
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>ament_index_python</test_depend>
+  <test_depend>launch</test_depend>
+  <test_depend>launch_ros</test_depend>
   <export>
     <build_type>ament_cmake</build_type>
   </export>

examples/posim_demos/test/test_world_paths.py

@@ -0,0 +1,116 @@
+"""Exercise world-path quoting at both launch entry points."""
+
+from contextlib import ExitStack
+from importlib.util import module_from_spec, spec_from_file_location
+import json
+import os
+from pathlib import Path
+import shlex
+import subprocess
+import sys
+from types import SimpleNamespace
+from unittest.mock import patch
+
+from launch import LaunchContext
+from launch.actions import DeclareLaunchArgument
+from launch.utilities import normalize_to_list_of_substitutions, perform_substitutions
+import pytest
+
+
+def arguments(entry, share, platform_name="posix", empty=False, headless=True, paused=False):
+    path = Path(__file__).resolve().parents[1] / "launch" / f"posim_{entry}.launch.py"
+    spec = spec_from_file_location("launch_under_test", path)
+    module = module_from_spec(spec)
+    spec.loader.exec_module(module)
+    module.os = SimpleNamespace(**{**os.__dict__, "name": platform_name})
+    context = LaunchContext()
+    for action in module.generate_launch_description().entities:
+        if isinstance(action, DeclareLaunchArgument) and action.default_value is not None:
+            context.launch_configurations[action.name] = perform_substitutions(
+                context, action.default_value
+            )
+    context.launch_configurations.update(
+        world_name="empty.sdf" if empty else "scene",
+        headless=str(headless).lower(),
+        gui=str(not headless).lower(),
+        paused=str(paused).lower(),
+        verbose="4" if entry == "robot" else "true",
+    )
+    with ExitStack() as stack:
+        if entry == "robot":
+            stack.enter_context(
+                patch.object(module.FindPackageShare, "find", lambda self, package: str(share))
+            )
+        else:
+            stack.enter_context(
+                patch.object(module, "get_package_share_directory", return_value=str(share))
+            )
+        actions = module.launch_setup(context)
+        include = next(a for a in actions if "gz_args" in dict(a.launch_arguments))
+        value = dict(include.launch_arguments)["gz_args"]
+        return perform_substitutions(context, normalize_to_list_of_substitutions(value))
+
+
+@pytest.fixture
+def share(tmp_path):
+    path = tmp_path / "plain"
+    (path / "worlds").mkdir(parents=True)
+    (path / "worlds/scene.world").write_text('<sdf><world name="scene"/></sdf>')
+    return path
+
+
+@pytest.mark.skipif(os.name != "posix", reason="Requires a POSIX shell")
+@pytest.mark.parametrize("entry", ["world", "robot"])
+@pytest.mark.parametrize(
+    "directory",
+    [
+        "plain",
+        "space path",
+        "author's files",
+        "semi;colon",
+        "literal$HOME",
+        'double"quote',
+        "해양 연구",
+    ],
+)
+def test_world_remains_one_literal_shell_argument(tmp_path, entry, directory):
+    share = tmp_path / directory
+    (share / "worlds").mkdir(parents=True)
+    world = share / "worlds/scene.world"
+    world.write_text('<sdf><world name="scene"/></sdf>')
+    prefix = (
+        shlex.quote(sys.executable)
+        + " -c "
+        + shlex.quote("import json,sys; print(json.dumps(sys.argv[1:]))")
+    )
+    result = subprocess.run(
+        prefix + " " + arguments(entry, share),
+        shell=True,
+        executable="/bin/sh",
+        capture_output=True,
+        text=True,
+        timeout=10,
+    )
+    assert result.returncode == 0, result.stderr
+    argv = json.loads(result.stdout)
+    assert argv.count(str(world)) == 1
+    assert "-r" in argv
+    assert "-s" in argv
+
+
+@pytest.mark.parametrize("entry", ["world", "robot"])
+def test_windows_keeps_unquoted_command_construction(share, entry):
+    # Deliberately preserve Windows behavior; not a Windows execution test.
+    spaced = share.with_name("Program Files")
+    share.rename(spaced)
+    assert str(spaced / "worlds/scene.world") in arguments(entry, spaced, "nt")
+    assert "'" not in arguments(entry, spaced, "nt")
+
+
+@pytest.mark.parametrize("headless", [False, True])
+@pytest.mark.parametrize("paused", [False, True])
+def test_robot_empty_world_preserves_flags(share, headless, paused):
+    argv = shlex.split(arguments("robot", share, empty=True, headless=headless, paused=paused))
+    assert argv.count("empty.sdf") == 1
+    assert ("-r" in argv) == (not paused)
+    assert ("-s" in argv) == headless