Make ROS/ROS2 node name configurable via launch file

[lukaszanger]

Implementation to make ROS/ROS2 node name configurable via launch file.

To be considered when using ROS2:

The node name has to be considered here in the params file (e.g. params.ros2.yaml). Thus, when renaming the ROS2 node via the launch argument, a new config file has to be applied (with a modified entry considering the updated node name).

[lreiher]

Can you please also add a second argument for the namespace?

And the ROS2 config file first line can be changed to "/**/*" such that it's usable independent of the actual node name.

[lukaszanger]

Can you please also add a second argument for the namespace?

And the ROS2 config file first line can be changed to "/**/*" such that it's usable independent of the actual node name.

Done. I configured mqtt_client as the default namespace. In ROS2, it would work to provide an empty string as default argument for namespace. In ROS1, an error is thrown. Alternative to the current implementation would be to only provide a non-empty default argument for namespace for ROS1 and an empty string for ROS2.

[lukaszanger]

Can you please also add a second argument for the namespace?
And the ROS2 config file first line can be changed to "/**/*" such that it's usable independent of the actual node name.

Done. I configured mqtt_client as the default namespace. In ROS2, it would work to provide an empty string as default argument for namespace. In ROS1, an error is thrown. Alternative to the current implementation would be to only provide a non-empty default argument for namespace for ROS1 and an empty string for ROS2.

Update on previous comment: Using "/" works for ROS1 to choose root as default namespace. This is implemented now.