Added getName and getNamespace to Ros singleton to obtain node name a…

…nd namespace.
StefanFabian · Sep 23, 2021 · b7b105c · b7b105c
1 parent fd5ff1b
commit b7b105c
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Showing 2 changed files with 21 additions and 3 deletions.
diff --git a/include/qml_ros_plugin/ros.h b/include/qml_ros_plugin/ros.h
@@ -221,6 +221,12 @@ Q_OBJECT
   //! @copydoc RosQml::setThreads
   Q_INVOKABLE void setThreads( int count );
 
+  //! Returns the name of the node. Returns empty string before ROS node was initialized.
+  Q_INVOKABLE QString getName();
+
+  //! Returns the namespace of the node. Returns empty string before ROS node was initialized.
+  Q_INVOKABLE QString getNamespace();
+
   //! @copydoc RosQml::queryTopics
   Q_INVOKABLE QStringList queryTopics( const QString &datatype = QString()) const;
 

diff --git a/src/ros.cpp b/src/ros.cpp
@@ -84,7 +84,7 @@ QStringList RosQml::queryTopics( const QString &datatype ) const
   ros::master::getTopics( topic_info );
   QStringList result;
   std::string std_datatype = datatype.toStdString();
-  for ( const auto &topic : topic_info )
+  for ( const auto &topic: topic_info )
   {
     if ( !std_datatype.empty() && topic.datatype != std_datatype ) continue;
     result.append( QString::fromStdString( topic.name ));
@@ -97,7 +97,7 @@ QList<TopicInfo> RosQml::queryTopicInfo() const
   ros::master::V_TopicInfo topic_info;
   ros::master::getTopics( topic_info );
   QList<TopicInfo> result;
-  for ( const auto &topic : topic_info )
+  for ( const auto &topic: topic_info )
   {
     result.append( { QString::fromStdString( topic.name ), QString::fromStdString( topic.datatype ) } );
   }
@@ -111,7 +111,7 @@ QString RosQml::queryTopicType( const QString &name ) const
   ros::master::getTopics( topic_info );
   QList<TopicInfo> result;
   std::string std_name = name.toStdString();
-  for ( const auto &topic : topic_info )
+  for ( const auto &topic: topic_info )
   {
     if ( std_name != topic.name ) continue;
     return QString::fromStdString( topic.datatype );
@@ -267,6 +267,18 @@ void RosQmlSingletonWrapper::spinOnce() { RosQml::getInstance().spinOnce(); }
 
 void RosQmlSingletonWrapper::setThreads( int count ) { RosQml::getInstance().setThreads( count ); }
 
+QString RosQmlSingletonWrapper::getName()
+{
+  if ( !isInitialized()) return {};
+  return QString::fromStdString( ros::this_node::getName());
+}
+
+QString RosQmlSingletonWrapper::getNamespace()
+{
+  if ( !isInitialized()) return {};
+  return QString::fromStdString( ros::this_node::getNamespace());
+}
+
 QStringList RosQmlSingletonWrapper::queryTopics( const QString &datatype ) const
 {
   return RosQml::getInstance().queryTopics( datatype );