Add nested namespace to nodes

asked 2021-03-20 15:11:46 -0600

alsora
1322 ●45 ●83 ●76 https://github.com/alsora

updated 2021-03-20 19:56:28 -0600

Hi,

I have an application where two nodes are created.

/app_ns/first_node
/second_node

As you can see, I'm specifying a namespace for one of the nodes, while the other has the default "". My goal, as the title says, is to add a namespace to both nodes, for example via command-line, but I'm open to other approaches.

What I would like to get is

/user_ns/app_ns/first_node
/user_ns/second_node

Unfortunately, the only way I know for specifying namespace is through the remapping arguments, which does not work in this case. For example I tried the following

$ ros2 run my_pkg my_app -r __ns:=/user_ns
$ ros2 node list
/user_ns/first_node
/user_ns/second_node

Do you know how could I get my desired output? I.e. how can I add/prepend a namespace while keeping whatever namespace the executable is already setting? Thank you

edit retag flag offensive close merge delete

add a comment

Costmap2DROS::Costmap2DROS( const std::string & name, const std::string & parent_namespace, const std::string & local_namespace) : nav2_util::LifecycleNode(name, "", true, // NodeOption arguments take precedence over the ones provided on the command line // use this to make sure the node is placed on the provided namespace rclcpp::NodeOptions().arguments({ "--ros-args", "-r", std::string("__ns:=") + nav2_util::add_namespaces(parent_namespace, local_namespace), "--ros-args", "-r", name + ":" + std::string("__node:=") + name })),

Add nested namespace to nodes

1 Answer

Question Tools

Stats

Related questions

Add nested namespace to nodes edit

1 Answer

Question Tools

Stats

Related questions

Add nested namespace to nodes