Using the same node twice

edit

Hellows,

Another designing question under ROS. I have a node that I programmed, it used param from the Param Server and subscribe to a topic and publish two topics.

I wish to launch to node twice using a launch file. All my parameters arr in yaml file. But I can't find any way for the code in C++ to go search the parameters in two different namespace without compiling two executable with just the namespace of difference in the getParam() function and it really is not optimal.

For now my function look like :

my_node.param<std::string>("/namespace1/source",source, "camera/rgb/image");

Is there any way to not need the name space hard coded ?

[EDIT]

I'll try to be more precise :).

For example I use the <remap> tag to remap the topic that are given by the two nodes. So I have "topic1" and "topic2". That is ok.

But now I want to publish parameters which have the same name but associated to each node. Let's say a parameter name /source for each of the node but under the namespace Node1/source, Node/source. This can be done with the launch file, I just need to load two yaml file or so. But now for now, my code to get in the param in my C++ code is like this

my_node.param<std::string>("/Node1/source",source, "camera/rgb/image");

for the first one

my_node.param<std::string>("/Node2/source",source, "camera/rgb/image");

for the second one.

I'm wondering if there is a way to right

my_node.param<std::string>("/source",source, "camera/rgb/image");

And the node would understand by itself that it's either Node1/source or Node2/source that they need.

Hope I have been clearer. Thanks a lot =)