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Forward sdf ros remappings to loaded controllers #80

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Jun 14, 2021
Merged

Forward sdf ros remappings to loaded controllers #80

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29 changes: 29 additions & 0 deletions gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -200,6 +200,35 @@ void GazeboRosControlPlugin::Load(gazebo::physics::ModelPtr parent, sdf::Element
// So we have to parse the plugin file manually and set it to the node's context.
auto rcl_context = impl_->model_nh_->get_node_base_interface()->get_context()->get_rcl_context();
std::vector<std::string> arguments = {"--ros-args", "--params-file", impl_->param_file_.c_str()};
if (sdf->HasElement("ros")) {
sdf = sdf->GetElement("ros");

// Set namespace if tag is present
if (sdf->HasElement("namespace")) {
std::string ns = sdf->GetElement("namespace")->Get<std::string>();
// prevent exception: namespace must be absolute, it must lead with a '/'
if (ns.empty() || ns[0] != '/') {
ns = '/' + ns;
}
std::string ns_arg = std::string("__ns:=") + ns;
arguments.push_back(RCL_REMAP_FLAG);
arguments.push_back(ns_arg);
}

// Get list of remapping rules from SDF
if (sdf->HasElement("remapping")) {
sdf::ElementPtr argument_sdf = sdf->GetElement("remapping");

arguments.push_back(RCL_ROS_ARGS_FLAG);
while (argument_sdf) {
std::string argument = argument_sdf->Get<std::string>();
arguments.push_back(RCL_REMAP_FLAG);
arguments.push_back(argument);
argument_sdf = argument_sdf->GetNextElement("remapping");
}
}
}

std::vector<const char *> argv;
for (const auto & arg : arguments) {
argv.push_back(reinterpret_cast<const char *>(arg.data()));
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