hubero_ros - NavigationRos nav stack interface topic names published …

…to ParamServer as full names (unification)

hubero_ros/launch/actor.launch

@@ -70,6 +70,13 @@
     <arg name="nav_odometry_topic" default="nav/odom"/>
     <arg name="nav_get_plan_tolerance" default="1.0"/>
 
+    <!-- Append 'nav' related topics to full topic name that includes specific actor named <actor_name> -->
+    <arg name="actor_nav_goal_topic" value="$(arg actor_ns)/$(arg nav_goal_topic)"/>
+    <arg name="actor_nav_cancel_topic" value="$(arg actor_ns)/$(arg nav_cancel_topic)"/>
+    <arg name="actor_nav_get_plan_topic" value="$(arg actor_ns)/$(arg nav_get_plan_topic)"/>
+    <arg name="actor_nav_command_topic" value="$(arg actor_ns)/$(arg nav_command_topic)"/>
+    <arg name="actor_nav_odometry_topic" value="$(arg actor_ns)/$(arg nav_odometry_topic)"/>
+
     <!-- Sensor data launch parameters -->
     <!-- NOTE: these must be used with caution - see details in 'actor_<sensor>_scan_topic' below -->
     <arg name="base_scan_topic" default="laser_scan"/>
@@ -87,11 +94,11 @@
     <param name="hubero_ros/simulator_frame" value="$(arg simulator_global_frame)"/>
     <param name="hubero_ros/namespace" value="$(arg main_ns)"/>
 
-    <param name="hubero_ros/navigation/goal_topic" value="$(arg nav_goal_topic)"/>
-    <param name="hubero_ros/navigation/cancel_topic" value="$(arg nav_cancel_topic)"/>
-    <param name="hubero_ros/navigation/get_plan_srv" value="$(arg nav_get_plan_topic)"/>
-    <param name="hubero_ros/navigation/command_topic" value="$(arg nav_command_topic)"/>
-    <param name="hubero_ros/navigation/odometry_topic" value="$(arg nav_odometry_topic)"/>
+    <param name="hubero_ros/navigation/goal_topic" value="$(arg actor_nav_goal_topic)"/>
+    <param name="hubero_ros/navigation/cancel_topic" value="$(arg actor_nav_cancel_topic)"/>
+    <param name="hubero_ros/navigation/get_plan_srv" value="$(arg actor_nav_get_plan_topic)"/>
+    <param name="hubero_ros/navigation/command_topic" value="$(arg actor_nav_command_topic)"/>
+    <param name="hubero_ros/navigation/odometry_topic" value="$(arg actor_nav_odometry_topic)"/>
     <param name="hubero_ros/navigation/nav_get_plan_tolerance" value="$(arg nav_get_plan_tolerance)"/>
 
     <param name="hubero_ros/actor_frames/base" value="$(arg actor_base_frame)"/>
@@ -127,8 +134,8 @@
         <arg name="global_planner_suffix" value="$(arg global_planner_suffix)"/>
         <arg name="local_planner" value="$(arg local_planner)"/>
         <arg name="local_planner_suffix" value="$(arg local_planner_suffix)"/>
-        <arg name="odom_topic" value="$(arg nav_odometry_topic)"/>
-        <arg name="cmd_vel_topic" value="$(arg nav_command_topic)"/>
+        <arg name="odom_topic" value="$(arg actor_nav_odometry_topic)"/>
+        <arg name="cmd_vel_topic" value="$(arg actor_nav_command_topic)"/>
         <arg name="map_topic" value="$(arg map_topic_name)"/>
         <arg name="base_scan_topic" value="$(arg actor_base_scan_topic)"/>
         <arg name="rgbd_scan_topic" value="$(arg actor_rgbd_scan_topic)"/>

hubero_ros/src/navigation_ros.cpp

@@ -80,46 +80,43 @@ bool NavigationRos::initialize(
 	nh.searchParam("/hubero_ros/navigation/nav_get_plan_tolerance", param_nav_get_plan_tolerance);
 	nh.param(param_nav_get_plan_tolerance, nav_get_plan_tolerance_, 1.0);
 
-	// prepare name
-	std::string ns_nav = actor_name_ + "/";
-
 	// initialize publishers, service clients, subscribers
 	pub_mb_goal_ = node_ptr->getNodeHandlePtr()->advertise<move_base_msgs::MoveBaseActionGoal>(
-		ns_nav + topic_nav_goal,
+		topic_nav_goal,
 		PUBLISHER_QUEUE_SIZE
 	);
 
 	pub_mb_cancel_ = node_ptr->getNodeHandlePtr()->advertise<actionlib_msgs::GoalID>(
-		ns_nav + topic_nav_cancel,
+		topic_nav_cancel,
 		PUBLISHER_QUEUE_SIZE
 	);
 
 	srv_mb_get_plan_ = node_ptr->getNodeHandlePtr()->serviceClient<nav_msgs::GetPlan>(
-		ns_nav + srv_nav_get_plan
+		srv_nav_get_plan
 	);
 
 	sub_cmd_vel_ = node_ptr->getNodeHandlePtr()->subscribe(
-		ns_nav + topic_nav_cmd,
+		topic_nav_cmd,
 		SUBSCRIBER_QUEUE_SIZE,
 		&NavigationRos::callbackCmdVel,
 		this
 	);
 
 	pub_odom_ = node_ptr->getNodeHandlePtr()->advertise<nav_msgs::Odometry>(
-		ns_nav + topic_nav_odometry,
+		topic_nav_odometry,
 		PUBLISHER_QUEUE_SIZE
 	);
 
-	HUBERO_LOG("[%s].[NavigationRos] Initialized ROS interface\r\n"
+	HUBERO_LOG("[%s].[NavigationRos] Initialized ROS navigation stack interface\r\n"
 		"\t(pub) goal request topic  at '%s'\r\n"
 		"\t(pub) goal cancel  topic  at '%s'\r\n"
 		"\t(srv) get plan     client at '%s'\r\n"
 		"\t(sub) cmd vel      topic  at '%s'\r\n",
 		actor_name.c_str(),
-		(node_ptr->getNamespaceName() + "/" + ns_nav + topic_nav_goal).c_str(),
-		(node_ptr->getNamespaceName() + "/" + ns_nav + topic_nav_cancel).c_str(),
-		(node_ptr->getNamespaceName() + "/" + ns_nav + srv_nav_get_plan).c_str(),
-		(node_ptr->getNamespaceName() + "/" + ns_nav + topic_nav_cmd).c_str()
+		topic_nav_goal.c_str(),
+		topic_nav_cancel.c_str(),
+		srv_nav_get_plan.c_str(),
+		topic_nav_cmd.c_str()
 	);
 
 	return true;