From 66d1b57f122342843460bf34f0b19e4fa0f8f68b Mon Sep 17 00:00:00 2001
From: Chris Smith <csmith@rethinkrobotics.com>
Date: Tue, 24 May 2016 11:15:00 -0400
Subject: [PATCH 1/2] done. tested. works.

---
 index.js               | 27 +++++++++++++++++++++------
 utils/message_utils.js | 10 +++++-----
 2 files changed, 26 insertions(+), 11 deletions(-)

diff --git a/index.js b/index.js
index d4aed00..c322132 100644
--- a/index.js
+++ b/index.js
@@ -22,6 +22,7 @@
 const netUtils = require('./utils/network_utils.js');
 const msgUtils = require('./utils/message_utils.js');
 const messages = require('./utils/messages.js');
+const util = require('util');
 msgUtils.findMessageFiles();
 
 // these will be modules, they depend on logger which isn't initialized yet
@@ -72,6 +73,16 @@ function _validateNodeName(nodeName) {
   return nodeName;
 }
 
+/**
+ * Appends a random string of numeric characters to the end
+ * of the node name. Follows rospy logic.
+ * @param nodeName {string} string to anonymize
+ * @return {string} anonymized nodeName
+ */
+function _anonymizeNodeName(nodeName) {
+  return util.format('%s_%s_%s', nodeName, process.pid, Date.now());
+}
+
 let Rosnodejs = {
   /**
    * Initializes a ros node for this process. Only one ros node can exist per process
@@ -81,6 +92,12 @@ let Rosnodejs = {
    * @return {Promise} resolved when connection to master is established
    */
   initNode(nodeName, options) {
+    options = options || {};
+    if (options.anonymous) {
+      nodeName = _anonymizeNodeName(nodeName);
+      console.log('anonymous node name ' + nodeName);
+    }
+
     nodeName = _validateNodeName(nodeName);
 
     if (rosNode !== null) {
@@ -88,12 +105,10 @@ let Rosnodejs = {
         return Promise.resolve(this.getNodeHandle());
       }
       // else
-      throw new Error('Unable to initialize node [' + nodeName + '] - node [' 
+      throw new Error('Unable to initialize node [' + nodeName + '] - node ['
                       + rosNode.getNodeName() + '] already exists');
     }
 
-    // FIXME: validate nodeName -- MUST START WITH '/'
-    options = options || {};
     let rosMasterUri = process.env.ROS_MASTER_URI;
     if (options.rosMasterUri) {
       rosMasterUri = options.rosMasterUri;
@@ -170,7 +185,7 @@ let Rosnodejs = {
     }
     var count = types.length;
     return new Promise((resolve, reject) => {
-      types.forEach(function(type) { 
+      types.forEach(function(type) {
         messages.getMessage(type, function(error, Message) {
           if (--count == 0) {
             resolve();
@@ -179,7 +194,7 @@ let Rosnodejs = {
       });
     });
   },
-  
+
   /** create message classes for all the given types */
   _useServices(types) {
     if (!types || types.length == 0) {
@@ -187,7 +202,7 @@ let Rosnodejs = {
     }
     var count = types.length;
     return new Promise((resolve, reject) => {
-      types.forEach(function(type) { 
+      types.forEach(function(type) {
         messages.getServiceRequest(type, function() {
           messages.getServiceResponse(type, function() {
             if (--count == 0) {
diff --git a/utils/message_utils.js b/utils/message_utils.js
index 791d7f2..99a8be3 100644
--- a/utils/message_utils.js
+++ b/utils/message_utils.js
@@ -184,7 +184,7 @@ let MessageUtils = {
   loadMessagePackage(msgPackage) {
     const indexPath = messagePackagePathMap[msgPackage];
     if (indexPath === undefined) {
-      throw new Error('Unable to find message package %s', msgPackage);
+      throw new Error('Unable to find message package ' + msgPackage);
     }
     try {
       messagePackageMap[msgPackage] = require(indexPath);
@@ -225,17 +225,17 @@ let MessageUtils = {
       let type = parts[1];
       return messagePackage.srv[type];
     } else {
-      let request = 
+      let request =
         messages.getFromRegistry(rosDataType, ["srv", "Request"]);
-      let response = 
+      let response =
         messages.getFromRegistry(rosDataType, ["srv", "Response"]);
       if (request && response) {
-        return { 
+        return {
           Request: request,
           Response: response
         };
       } else {
-        console.error('Unable to find service package %s: %j %j', 
+        console.error('Unable to find service package %s: %j %j',
                       msgPackage, request, response);
         throw new Error();
       }

From ef4e30fec2d493b71cefbf4449c928eb15ba0e54 Mon Sep 17 00:00:00 2001
From: chris-smith <christopherjohn.smith13@gmail.com>
Date: Wed, 25 May 2016 08:50:40 -0400
Subject: [PATCH 2/2] Remove debug log

---
 index.js | 1 -
 1 file changed, 1 deletion(-)

diff --git a/index.js b/index.js
index c322132..3616599 100644
--- a/index.js
+++ b/index.js
@@ -95,7 +95,6 @@ let Rosnodejs = {
     options = options || {};
     if (options.anonymous) {
       nodeName = _anonymizeNodeName(nodeName);
-      console.log('anonymous node name ' + nodeName);
     }
 
     nodeName = _validateNodeName(nodeName);