From 3608349a557f45b227f6c348e83727f6f4db425e Mon Sep 17 00:00:00 2001
From: rohit <rohitsalem@gmail.com>
Date: Tue, 3 Apr 2018 13:21:23 -0700
Subject: [PATCH] re-adding avoid_ros_namespace_conventions check for prefixing
 names

---
 rmw_fastrtps_cpp/src/rmw_client.cpp       | 10 ++++++++++
 rmw_fastrtps_cpp/src/rmw_publisher.cpp    |  5 +++++
 rmw_fastrtps_cpp/src/rmw_service.cpp      | 10 ++++++++++
 rmw_fastrtps_cpp/src/rmw_subscription.cpp |  5 +++++
 4 files changed, 30 insertions(+)

diff --git a/rmw_fastrtps_cpp/src/rmw_client.cpp b/rmw_fastrtps_cpp/src/rmw_client.cpp
index 6a445be54..822fc2380 100644
--- 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
index 471e8eefa..2a2f6f5b5 100644
--- 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
index f0297e717..1c6dd104c 100644
--- 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
index 8fcaa46b9..d7fca6475 100644
--- 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