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Add namespace override #145

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Add namespace override #145

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1 change: 1 addition & 0 deletions micro_ros_agent/include/agent/Agent.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@ class Agent

eprosima::uxr::AgentInstance& xrce_dds_agent_instance_;
std::map<eprosima::fastdds::dds::DomainId_t, std::shared_ptr<graph_manager::GraphManager>> graph_manager_map_;
std::string namespace_remapping = "";

std::shared_ptr<graph_manager::GraphManager> find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id);
};
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3 changes: 2 additions & 1 deletion micro_ros_agent/include/agent/graph_manager/graph_manager.hpp
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Expand Up @@ -80,7 +80,7 @@ class GraphManager
/**
* @brief Default constructor.
*/
GraphManager(eprosima::fastdds::dds::DomainId_t domain_id);
GraphManager(eprosima::fastdds::dds::DomainId_t domain_id, std::string namespace_remapping);

/**
* @brief Default destructor.
Expand Down Expand Up @@ -274,6 +274,7 @@ class GraphManager
std::string& node_namespace);

eprosima::fastdds::dds::DomainId_t domain_id_;
std::string namespace_remapping_;
bool graph_changed_;
bool display_on_change_;
std::thread microros_graph_publisher_;
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16 changes: 13 additions & 3 deletions micro_ros_agent/src/agent/Agent.cpp
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Expand Up @@ -33,6 +33,17 @@ bool Agent::create(
char** argv)
{
bool result = xrce_dds_agent_instance_.create(argc, argv);

// Find namespace remapping
for (int i = 0; i < argc; i++)
{
if (strcmp(argv[i], "--namespace-remapping") == 0 && i + 1 < argc)
{
namespace_remapping = argv[i + 1];
std::cout << "Remapping all entities to namespace " << namespace_remapping << std::endl;
}
}

if (result)
{
/**
Expand Down Expand Up @@ -293,16 +304,15 @@ void Agent::run()

std::shared_ptr<graph_manager::GraphManager> Agent::find_or_create_graph_manager(eprosima::fastdds::dds::DomainId_t domain_id)
{

auto it = graph_manager_map_.find(domain_id);
auto it = graph_manager_map_.find(domain_id);

if (it != graph_manager_map_.end()) {
return it->second;
}else{
return graph_manager_map_.insert(
std::make_pair(
domain_id,
std::make_shared<graph_manager::GraphManager>(domain_id)
std::make_shared<graph_manager::GraphManager>(domain_id, namespace_remapping)
)
).first->second;
}
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16 changes: 13 additions & 3 deletions micro_ros_agent/src/agent/graph_manager/graph_manager.cpp
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Expand Up @@ -26,8 +26,9 @@ namespace uros {
namespace agent {
namespace graph_manager {

GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id)
GraphManager::GraphManager(eprosima::fastdds::dds::DomainId_t domain_id, std::string namespace_remapping)
: domain_id_(domain_id)
, namespace_remapping_(namespace_remapping)
, graph_changed_(false)
, display_on_change_(false)
, mtx_()
Expand Down Expand Up @@ -313,6 +314,8 @@ void GraphManager::add_participant(
std::string isolated_node_name, isolated_namespace;
get_name_and_namespace(qos.name().to_string(), isolated_node_name, isolated_namespace);

isolated_namespace = namespace_remapping_ + isolated_namespace;

rmw_dds_common::msg::ParticipantEntitiesInfo info =
graphCache_.add_node(gid, isolated_node_name, isolated_namespace);

Expand Down Expand Up @@ -355,7 +358,10 @@ void GraphManager::add_datawriter(
{
const std::string& topic_name = datawriter->get_topic()->get_name();
const std::string& type_name = datawriter->get_topic()->get_type_name();
this->add_datawriter(datawriter_guid, topic_name, type_name,

auto remapped_topic_name = namespace_remapping_ + "/" + topic_name;

this->add_datawriter(datawriter_guid, remapped_topic_name, type_name,
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I think this is a mistake here? the remapping should only be in the overload of add_datawriter below? This will double namespace it?

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probably it was intended for add_datareader? Which neither overload has a remapping

participant->guid(), datawriter->get_qos());
}

Expand All @@ -372,7 +378,9 @@ void GraphManager::add_datawriter(
"rmw_fastrtps_cpp", participant_guid);
const rmw_qos_profile_t qos_profile = fastdds_qos_to_rmw_qos(writer_qos);

graphCache_.add_entity(datawriter_gid, topic_name,
auto remapped_topic_name = namespace_remapping_ + "/" + topic_name;

graphCache_.add_entity(datawriter_gid, remapped_topic_name,
type_name, participant_gid, qos_profile, false);
}

Expand Down Expand Up @@ -441,6 +449,7 @@ void GraphManager::associate_entity(
{
std::string isolated_node_name, isolated_namespace;
get_name_and_namespace(qos.name().c_str(), isolated_node_name, isolated_namespace);
isolated_namespace = namespace_remapping_ + isolated_namespace;
info = graphCache_.associate_writer(
entity_gid, participant_gid, isolated_node_name, isolated_namespace);
break;
Expand All @@ -449,6 +458,7 @@ void GraphManager::associate_entity(
{
std::string isolated_node_name, isolated_namespace;
get_name_and_namespace(qos.name().c_str(), isolated_node_name, isolated_namespace);
isolated_namespace = namespace_remapping_ + isolated_namespace;
info = graphCache_.associate_reader(
entity_gid, participant_gid, isolated_node_name, isolated_namespace);
break;
Expand Down