Add namespace and make param file independent from actual node name

ika-rwth-aachen · Apr 8, 2024 · 85fa561 · 85fa561
1 parent 3655e41
commit 85fa561
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Showing 3 changed files with 7 additions and 5 deletions.
diff --git a/mqtt_client/config/params.ros2.yaml b/mqtt_client/config/params.ros2.yaml
@@ -1,4 +1,4 @@
-mqtt_client:
+/**/*:
   ros__parameters:
     broker:
       host: localhost

diff --git a/mqtt_client/launch/standalone.launch b/mqtt_client/launch/standalone.launch
@@ -1,9 +1,10 @@
 <launch>
 
-  <arg name="params_file" default="$(find mqtt_client)/config/params.yaml" />
+  <arg name="namespace" default="mqtt_client" />
   <arg name="node_name" default="mqtt_client" />
+  <arg name="params_file" default="$(find mqtt_client)/config/params.yaml" />
 
-  <node pkg="nodelet" type="nodelet" name="$(arg node_name)" args="standalone mqtt_client/MqttClient" output="screen">
+  <node pkg="nodelet" type="nodelet" name="$(arg node_name)" ns="$(arg namespace)" args="standalone mqtt_client/MqttClient" output="screen">
     <rosparam command="load" file="$(arg params_file)" />
   </node>
 

diff --git a/mqtt_client/launch/standalone.launch.ros2.xml b/mqtt_client/launch/standalone.launch.ros2.xml
@@ -1,9 +1,10 @@
 <launch>
 
-  <arg name="params_file" default="$(find-pkg-share mqtt_client)/config/params.ros2.yaml" />
+  <arg name="namespace" default="mqtt_client" />
   <arg name="node_name" default="mqtt_client" />
+  <arg name="params_file" default="$(find-pkg-share mqtt_client)/config/params.ros2.yaml" />
 
-  <node pkg="mqtt_client" exec="mqtt_client" name="$(var node_name)" output="screen">
+  <node pkg="mqtt_client" exec="mqtt_client" name="$(var node_name)" namespace="$(var namespace)" output="screen">
     <param from="$(var params_file)" />
   </node>