Issue 695: Changing 'namespace_' variables to 'node_namespace' to mak…

…e it more explicit (#1239)

controller_interface/include/controller_interface/controller_interface_base.hpp

@@ -115,7 +115,7 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   CONTROLLER_INTERFACE_PUBLIC
   virtual return_type init(
     const std::string & controller_name, const std::string & urdf, unsigned int cm_update_rate,
-    const std::string & namespace_ = "",
+    const std::string & node_namespace = "",
     const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions().enable_logger_service(true));
 
   /// Custom configure method to read additional parameters for controller-nodes

controller_interface/src/controller_interface_base.cpp

@@ -26,10 +26,11 @@ namespace controller_interface
 {
 return_type ControllerInterfaceBase::init(
   const std::string & controller_name, const std::string & urdf, unsigned int cm_update_rate,
-  const std::string & namespace_, const rclcpp::NodeOptions & node_options)
+  const std::string & node_namespace, const rclcpp::NodeOptions & node_options)
 {
   node_ = std::make_shared<rclcpp_lifecycle::LifecycleNode>(
-    controller_name, namespace_, node_options, false);  // disable LifecycleNode service interfaces
+    controller_name, node_namespace, node_options,
+    false);  // disable LifecycleNode service interfaces
   urdf_ = urdf;
 
   try

controller_interface/test/test_controller_with_options.hpp

@@ -41,13 +41,13 @@ class ControllerWithOptions : public controller_interface::ControllerInterface
 
   controller_interface::return_type init(
     const std::string & controller_name, const std::string & urdf, unsigned int cm_update_rate,
-    const std::string & namespace_ = "",
+    const std::string & node_namespace = "",
     const rclcpp::NodeOptions & node_options =
       rclcpp::NodeOptions()
         .allow_undeclared_parameters(true)
         .automatically_declare_parameters_from_overrides(true)) override
   {
-    ControllerInterface::init(controller_name, urdf, cm_update_rate, namespace_, node_options);
+    ControllerInterface::init(controller_name, urdf, cm_update_rate, node_namespace, node_options);
 
     switch (on_init())
     {

controller_manager/include/controller_manager/controller_manager.hpp

@@ -71,14 +71,14 @@ class ControllerManager : public rclcpp::Node
     std::unique_ptr<hardware_interface::ResourceManager> resource_manager,
     std::shared_ptr<rclcpp::Executor> executor,
     const std::string & manager_node_name = "controller_manager",
-    const std::string & namespace_ = "",
+    const std::string & node_namespace = "",
     const rclcpp::NodeOptions & options = get_cm_node_options());
 
   CONTROLLER_MANAGER_PUBLIC
   ControllerManager(
     std::shared_ptr<rclcpp::Executor> executor,
     const std::string & manager_node_name = "controller_manager",
-    const std::string & namespace_ = "",
+    const std::string & node_namespace = "",
     const rclcpp::NodeOptions & options = get_cm_node_options());
 
   CONTROLLER_MANAGER_PUBLIC

controller_manager/src/controller_manager.cpp

@@ -255,8 +255,8 @@ rclcpp::NodeOptions get_cm_node_options()
 
 ControllerManager::ControllerManager(
   std::shared_ptr<rclcpp::Executor> executor, const std::string & manager_node_name,
-  const std::string & namespace_, const rclcpp::NodeOptions & options)
-: rclcpp::Node(manager_node_name, namespace_, options),
+  const std::string & node_namespace, const rclcpp::NodeOptions & options)
+: rclcpp::Node(manager_node_name, node_namespace, options),
   resource_manager_(std::make_unique<hardware_interface::ResourceManager>(
     update_rate_, this->get_node_clock_interface())),
   diagnostics_updater_(this),
@@ -297,8 +297,8 @@ ControllerManager::ControllerManager(
 ControllerManager::ControllerManager(
   std::unique_ptr<hardware_interface::ResourceManager> resource_manager,
   std::shared_ptr<rclcpp::Executor> executor, const std::string & manager_node_name,
-  const std::string & namespace_, const rclcpp::NodeOptions & options)
-: rclcpp::Node(manager_node_name, namespace_, options),
+  const std::string & node_namespace, const rclcpp::NodeOptions & options)
+: rclcpp::Node(manager_node_name, node_namespace, options),
   resource_manager_(std::move(resource_manager)),
   diagnostics_updater_(this),
   executor_(executor),

controller_manager/test/test_controller_failed_init/test_controller_failed_init.cpp

@@ -33,7 +33,7 @@ TestControllerFailedInit::on_init()
 
 controller_interface::return_type TestControllerFailedInit::init(
   const std::string & /* controller_name */, const std::string & /* urdf */,
-  unsigned int /*cm_update_rate*/, const std::string & /*namespace_*/,
+  unsigned int /*cm_update_rate*/, const std::string & /*node_namespace*/,
   const rclcpp::NodeOptions & /*node_options*/)
 {
   return controller_interface::return_type::ERROR;

controller_manager/test/test_controller_failed_init/test_controller_failed_init.hpp

@@ -41,7 +41,7 @@ class TestControllerFailedInit : public controller_interface::ControllerInterfac
   CONTROLLER_INTERFACE_PUBLIC
   controller_interface::return_type init(
     const std::string & controller_name, const std::string & urdf, unsigned int cm_update_rate,
-    const std::string & namespace_ = "",
+    const std::string & node_namespace = "",
     const rclcpp::NodeOptions & node_options =
       rclcpp::NodeOptions()
         .allow_undeclared_parameters(true)

controller_manager/test/test_controller_manager_hardware_error_handling.cpp

@@ -54,9 +54,9 @@ class TestableControllerManager : public controller_manager::ControllerManager
     std::unique_ptr<hardware_interface::ResourceManager> resource_manager,
     std::shared_ptr<rclcpp::Executor> executor,
     const std::string & manager_node_name = "controller_manager",
-    const std::string & namespace_ = "")
+    const std::string & node_namespace = "")
   : controller_manager::ControllerManager(
-      std::move(resource_manager), executor, manager_node_name, namespace_)
+      std::move(resource_manager), executor, manager_node_name, node_namespace)
   {
   }
 };

controller_manager/test/test_controller_manager_urdf_passing.cpp

@@ -40,9 +40,9 @@ class TestableControllerManager : public controller_manager::ControllerManager
     std::unique_ptr<hardware_interface::ResourceManager> resource_manager,
     std::shared_ptr<rclcpp::Executor> executor,
     const std::string & manager_node_name = "controller_manager",
-    const std::string & namespace_ = "")
+    const std::string & node_namespace = "")
   : controller_manager::ControllerManager(
-      std::move(resource_manager), executor, manager_node_name, namespace_)
+      std::move(resource_manager), executor, manager_node_name, node_namespace)
   {
   }
 };

controller_manager/test/test_controllers_chaining_with_controller_manager.cpp

@@ -94,9 +94,9 @@ class TestableControllerManager : public controller_manager::ControllerManager
     std::unique_ptr<hardware_interface::ResourceManager> resource_manager,
     std::shared_ptr<rclcpp::Executor> executor,
     const std::string & manager_node_name = "controller_manager",
-    const std::string & namespace_ = "")
+    const std::string & node_namespace = "")
   : controller_manager::ControllerManager(
-      std::move(resource_manager), executor, manager_node_name, namespace_)
+      std::move(resource_manager), executor, manager_node_name, node_namespace)
   {
   }
 };