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I've been looking for this today, and there is a function in Galactic Rolling:

RCLCPP_PUBLIC std::string resolve_topic_name(const std::string & name, bool only_expand = false) const override;

See this pull request. I've copied the code over to my own node.

The only_expand parameter, if true, just adds on the namespace. If false, it also applies remapping, which is probably the option you want.

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