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Add namespace to action and service client names #1

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merged 1 commit into from
Apr 27, 2020
Merged

Add namespace to action and service client names #1

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6 changes: 6 additions & 0 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,8 @@ class BtActionNode : public BT::ActionNodeBase
: BT::ActionNodeBase(xml_tag_name, conf), action_name_(action_name)
{
node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
std::string node_namespace;
node_namespace = node_->get_namespace();

// Initialize the input and output messages
goal_ = typename ActionT::Goal();
Expand All @@ -45,6 +47,10 @@ class BtActionNode : public BT::ActionNodeBase
if (getInput("server_name", remapped_action_name)) {
action_name_ = remapped_action_name;
}
// Append namespace to the action name
if(node_namespace.c_str()) {
action_name_ = node_namespace + "/" + action_name_;
}
createActionClient(action_name_);

// Give the derive class a chance to do any initialization
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6 changes: 6 additions & 0 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,8 @@ class BtServiceNode : public BT::SyncActionNode
: BT::SyncActionNode(service_node_name, conf), service_node_name_(service_node_name)
{
node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
std::string node_namespace;
node_namespace = node_->get_namespace();

// Get the required items from the blackboard
server_timeout_ =
Expand All @@ -43,6 +45,10 @@ class BtServiceNode : public BT::SyncActionNode

// Now that we have node_ to use, create the service client for this BT service
getInput("service_name", service_name_);
// Append namespace to the action name
if(node_namespace.c_str()) {
service_name_ = node_namespace + "/" + service_name_;
}
service_client_ = node_->create_client<ServiceT>(service_name_);

// Make sure the server is actually there before continuing
Expand Down