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Issue 695: Changing 'namespace_' variables to 'node_namespace' to make it more explicit #1239

Merged
merged 8 commits into from
Jan 8, 2024
Merged

Issue 695: Changing 'namespace_' variables to 'node_namespace' to make it more explicit #1239

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9b8d702
Issue-759: Adding cleanup service
bailaC Dec 18, 2023
0260d1e
Revert "Issue-759: Adding cleanup service"
bailaC Dec 18, 2023
f069bdd
Merge branch 'ros-controls:master' into issue-695
Dec 20, 2023
a54bbd9
issue-695: correcting namespace to node_namespace
bailaC Dec 20, 2023
c985721
issue-695: correcting namespace to node_namespace
bailaC Dec 20, 2023
b1e96f5
Merge remote-tracking branch 'refs/remotes/origin/issue-695' into iss…
bailaC Dec 20, 2023
7552b21
Addressing review comments.
bailaC Jan 5, 2024
6bb2353
Merge branch 'master' into issue-695
bailaC Jan 5, 2024
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2 changes: 1 addition & 1 deletion controller_interface/include/controller_interface/controller_interface_base.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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5 changes: 3 additions & 2 deletions controller_interface/src/controller_interface_base.cpp
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Expand Up @@ -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
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4 changes: 2 additions & 2 deletions controller_interface/test/test_controller_with_options.hpp
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Expand Up @@ -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())
{
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4 changes: 2 additions & 2 deletions controller_manager/include/controller_manager/controller_manager.hpp
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Expand Up @@ -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
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8 changes: 4 additions & 4 deletions controller_manager/src/controller_manager.cpp
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Expand Up @@ -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),
Expand Down Expand Up @@ -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),
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2 changes: 1 addition & 1 deletion controller_manager/test/test_controller_failed_init/test_controller_failed_init.cpp
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Expand Up @@ -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;
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2 changes: 1 addition & 1 deletion controller_manager/test/test_controller_failed_init/test_controller_failed_init.hpp
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Expand Up @@ -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)
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4 changes: 2 additions & 2 deletions controller_manager/test/test_controller_manager_hardware_error_handling.cpp
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Expand Up @@ -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)
{
}
};
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4 changes: 2 additions & 2 deletions controller_manager/test/test_controller_manager_urdf_passing.cpp
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Expand Up @@ -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)
{
}
};
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4 changes: 2 additions & 2 deletions controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
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Expand Up @@ -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)
{
}
};
Expand Down
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