Allow supplying NodeHandle for initParam #168
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Corresponding PR in ros_controllers: ros-controls/ros_controllers#245 |
piyushk
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Apart from providing backward compatibility with a consistent behaviour, this PR eases namespacing 👍 from me |
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This would cause a ABI break as-is, and I'd prefer not to do that. You could instead add a new method, something like |
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👍 Good idea @wjwwood , we'd need this in Kinetic |
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I can forward/back port anything when preparing for release. |
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Sounds good. I'm swamped on other things at the moment, and I'll try and get back to this in a week or two. |
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Looks like CI is failing for Indigo and Jade, is that expected? |
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@wjwwood: My bad. Forgot a return statement. Checks are passing now. |
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No worries that's why we have CI 😄. @clalancette / @sloretz can you one of you guys review this change too? |
| @@ -44,6 +44,7 @@ | |||
| #include <tinyxml.h> | |||
| #include <boost/shared_ptr.hpp> | |||
| #include <boost/weak_ptr.hpp> | |||
| #include <ros/ros.h> | |||
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@wjwwood correct me if I'm wrong, but I think the package.xml needs <build_export_depend>roscpp</build_export_depend> because of this addition
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build_export_depend is unsupported in package.xml format 1, which is what urdf is using. I believe the format 1 build_depend did that behavior by default.
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AFAIK in package format 1 "exported build depends" have to be declared as run_depend.
Source: http://www.ros.org/reps/rep-0127.html#run-depend-multiple and http://www.ros.org/reps/rep-0140.html#removing-run-depend
| @@ -58,6 +59,8 @@ class Model: public ModelInterface | |||
| bool initFile(const std::string& filename); | |||
| /// \brief Load Model given the name of a parameter on the parameter server | |||
| bool initParam(const std::string& param); | |||
| /// \brief Load Model given the name of a parameter on the parameter server using provided nodehandle | |||
| bool initParamWithNodeHandle(const std::string& param, const ros::NodeHandle& nh = ros::NodeHandle()); | |||
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Adding this looks good to me. It makes using the library easier.
I think the specific case of ros-controls/ros_controllers#244 could be solved by using NodeHandle::resolveName("robot_description") and passing the fully qualified name into initParam()
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@sloretz: You're right. However, after discussion, we decided to go this route.
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@wjwwood: Any chance we could push this one through since it's been approved? Thanks! |
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Awesome. Thanks! |
Previously, initParam always constructs a default NodeHandle, which
works correctly as long as robot_description param and the node
calling initParam are in the same namespace. This is not true,
when initParam is called via a ros_control controller running in
the global namespace (gazebo), but robot_descriptions still need
to be namespaced. This backwards compatible change allows setting
the NodeHandle.
See ros-controls/ros_controllers#244