Fix node name issue ros-naoqi#35

kochigami · Jan 9, 2018 · f713ccf · f713ccf
1 parent dc25ab4
commit f713ccf
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Showing 4 changed files with 16 additions and 7 deletions.
diff --git a/launch/naoqi_driver.launch b/launch/naoqi_driver.launch
@@ -4,7 +4,8 @@
   <arg name="nao_port"          default="$(optenv NAO_PORT 9559)" />
   <arg name="roscore_ip"        default="127.0.0.1" />
   <arg name="network_interface" default="eth0" />
+  <arg name="namespace"         default="naoqi_driver" />
 
-  <node pkg="naoqi_driver" type="naoqi_driver_node" name="naoqi_driver" required="true" args="--qi-url=tcp://$(arg nao_ip):$(arg nao_port) --roscore_ip=$(arg roscore_ip) --network_interface=$(arg network_interface)" output="screen" />
+  <node pkg="naoqi_driver" type="naoqi_driver_node" name="$(arg namespace)" required="true" args="--qi-url=tcp://$(arg nao_ip):$(arg nao_port) --roscore_ip=$(arg roscore_ip) --network_interface=$(arg network_interface) --namespace=$(arg namespace)" output="screen" />
 
 </launch>
diff --git a/src/external_registration.cpp b/src/external_registration.cpp
@@ -39,7 +39,7 @@ int main(int argc, char** argv)
     ("help,h", "print help message")
     ("roscore_ip,r", po::value<std::string>(), "set the ip of the roscore to use")
     ("network_interface,i", po::value<std::string>()->default_value("eth0"),  "set the network interface over which to connect")
-    ("namespace,n", po::value<std::string>()->default_value(""), "set an explicit namespace in case ROS namespace variables cannot be used");
+    ("namespace,n", po::value<std::string>()->default_value("naoqi_driver_node"), "set an explicit namespace in case ROS namespace variables cannot be used");
 
   po::variables_map vm;
   try

diff --git a/src/naoqi_driver.cpp b/src/naoqi_driver.cpp
@@ -125,6 +125,14 @@ Driver::Driver( qi::SessionPtr session, const std::string& prefix )
   buffer_duration_(helpers::recorder::bufferDefaultDuration)
 {
   naoqi::ros_env::setPrefix(prefix);
+  if(prefix == ""){
+    std::cout << "Error driver prefix must not be empty" << std::endl;
+    throw new ros::Exception("Error driver prefix must not be empty");
+  }
+  else {
+    naoqi::ros_env::setPrefix(prefix);
+  }
+
 }
 
 Driver::~Driver()
@@ -577,10 +585,10 @@ void Driver::registerDefaultConverter()
 
   bool sonar_enabled                  = boot_config_.get( "converters.sonar.enabled", true);
   size_t sonar_frequency              = boot_config_.get( "converters.sonar.frequency", 10);
-  
+
   bool odom_enabled                  = boot_config_.get( "converters.odom.enabled", true);
   size_t odom_frequency              = boot_config_.get( "converters.odom.frequency", 10);
-  
+
   bool bumper_enabled                 = boot_config_.get( "converters.bumper.enabled", true);
   bool hand_enabled                   = boot_config_.get( "converters.touch_hand.enabled", true);
   bool head_enabled                   = boot_config_.get( "converters.touch_head.enabled", true);
@@ -826,7 +834,7 @@ void Driver::registerDefaultConverter()
       event_map_.find("head_touch")->second.isPublishing(true);
     }
   }
-  
+
   /** Odom */
   if ( odom_enabled )
   {
@@ -838,7 +846,7 @@ void Driver::registerDefaultConverter()
     lc->registerCallback( message_actions::LOG, boost::bind(&recorder::BasicRecorder<nav_msgs::Odometry>::bufferize, lr, _1) );
     registerConverter( lc, lp, lr );
   }
-  
+
 }
 
 

diff --git a/src/ros_env.hpp b/src/ros_env.hpp
@@ -90,7 +90,7 @@ static void setMasterURI( const std::string& uri, const std::string& network_int
   remap["__ip"] = ::naoqi::ros_env::getROSIP(network_interface);
   // init ros without a sigint-handler in order to shutdown correctly by naoqi
   const char* ns_env = std::getenv("ROS_NAMESPACE");
-  ros::init( remap, (ns_env==NULL)?(std::string("naoqi_driver_node")):(::naoqi::ros_env::getPrefix()) , ros::init_options::NoSigintHandler );
+  ros::init( remap, (::naoqi::ros_env::getPrefix()), ros::init_options::NoSigintHandler );
   // to prevent shutdown based on no existing nodehandle
   ros::start();