re-adding avoid_ros_namespace_conventions check for prefixing names

ros2 · Apr 3, 2018 · 3608349 · 3608349
1 parent 6d0c559
commit 3608349
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Showing 4 changed files with 30 additions and 0 deletions.
diff --git a/rmw_fastrtps_cpp/src/rmw_client.cpp b/rmw_fastrtps_cpp/src/rmw_client.cpp
@@ -122,14 +122,24 @@ rmw_create_client(
   subscriberParam.topic.topicKind = NO_KEY;
   subscriberParam.topic.topicDataType = response_type_name;
   subscriberParam.historyMemoryPolicy = PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  if (!qos_policies->avoid_ros_namespace_conventions){
   subscriberParam.topic.topicName = std::string(ros_service_response_prefix) + service_name;
+  }
+  else{
+  subscriberParam.topic.topicName = service_name;
+  }
   subscriberParam.topic.topicName += "Reply";
 
   publisherParam.topic.topicKind = NO_KEY;
   publisherParam.topic.topicDataType = request_type_name;
   publisherParam.qos.m_publishMode.kind = ASYNCHRONOUS_PUBLISH_MODE;
   publisherParam.historyMemoryPolicy = PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  if (!qos_policies->avoid_ros_namespace_conventions){
   publisherParam.topic.topicName = std::string(ros_service_requester_prefix) + service_name;
+  }
+  else{
+  publisherParam.topic.topicName = service_name;
+  }
   publisherParam.topic.topicName += "Request";
 
   RCUTILS_LOG_DEBUG_NAMED(

diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
@@ -102,7 +102,12 @@ rmw_create_publisher(
   publisherParam.historyMemoryPolicy = PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   publisherParam.topic.topicKind = NO_KEY;
   publisherParam.topic.topicDataType = type_name;
+  if (!qos_policies->avoid_ros_namespace_conventions){
   publisherParam.topic.topicName = std::string(ros_topic_prefix) + topic_name;
+  }
+  else{
+  publisherParam.topic.topicName = topic_name;
+  }
 
 #if HAVE_SECURITY
   // see if our participant has a security property set

diff --git a/rmw_fastrtps_cpp/src/rmw_service.cpp b/rmw_fastrtps_cpp/src/rmw_service.cpp
@@ -133,14 +133,24 @@ rmw_create_service(
   subscriberParam.topic.topicKind = NO_KEY;
   subscriberParam.historyMemoryPolicy = PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   subscriberParam.topic.topicDataType = request_type_name;
+  if (!qos_policies->avoid_ros_namespace_conventions){
   subscriberParam.topic.topicName = std::string(ros_service_requester_prefix) + service_name;
+  }
+  else{
+  subscriberParam.topic.topicName = service_name;
+  }
   subscriberParam.topic.topicName += "Request";
 
   publisherParam.topic.topicKind = NO_KEY;
   publisherParam.topic.topicDataType = response_type_name;
   publisherParam.qos.m_publishMode.kind = ASYNCHRONOUS_PUBLISH_MODE;
   publisherParam.historyMemoryPolicy = PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+  if (!qos_policies->avoid_ros_namespace_conventions){
   publisherParam.topic.topicName = std::string(ros_service_response_prefix) + service_name;
+  }
+  else{
+  publisherParam.topic.topicName = service_name;
+  }
   publisherParam.topic.topicName += "Reply";
 
   RCUTILS_LOG_DEBUG_NAMED(

diff --git a/rmw_fastrtps_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
@@ -104,7 +104,12 @@ rmw_create_subscription(
   subscriberParam.historyMemoryPolicy = PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   subscriberParam.topic.topicKind = NO_KEY;
   subscriberParam.topic.topicDataType = type_name;
+  if (!qos_policies->avoid_ros_namespace_conventions){
   subscriberParam.topic.topicName = std::string(ros_topic_prefix) + topic_name;
+  }
+  else{
+  subscriberParam.topic.topicName = topic_name;
+  }
 
 #if HAVE_SECURITY
   // see if our subscriber has a security property set