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Keep namespace relative if base_prefix is empty string #40

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Keep namespace relative if base_prefix is empty string #40

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14 changes: 8 additions & 6 deletions kobuki_gazebo_plugins/src/gazebo_ros_kobuki_loads.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -309,6 +309,8 @@ void GazeboRosKobuki::setupRosApi(std::string& model_name)
{
std::string base_prefix;
gazebo_ros_->node()->param("base_prefix", base_prefix, std::string("mobile_base"));
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I believe the default value std::string("mobile_base") has to be dropped. Otherwise you won't be able to set the base_prefix to be an empty string.

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If the parameter server has the empty string as the value of "base_prefix", then ros::NodeHandle::param() will use it and not the default. The API description of param() claims that the default value is only used if the parameter value cannot be retrieved.

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You are right in case of the ROS parameter server, but this is not the case here. The parameter here comes from Gazebo and is set here: https://github.com/yujinrobot/kobuki_desktop/blob/indigo/kobuki_gazebo/launch/includes/robot.launch.xml#L9

If I provide an empty string, I believe the parameter is considered not set and the default is selected. At least this happend when I tried it. How did you make it work?

if (base_prefix.length() > 0)
base_prefix += "/";

// Public topics

Expand All @@ -325,32 +327,32 @@ void GazeboRosKobuki::setupRosApi(std::string& model_name)

// Private Topics
// motor power
std::string motor_power_topic = base_prefix + "/commands/motor_power";
std::string motor_power_topic = base_prefix + "commands/motor_power";
motor_power_sub_ = gazebo_ros_->node()->subscribe(motor_power_topic, 10, &GazeboRosKobuki::motorPowerCB, this);
ROS_INFO("%s: Try to subscribe to %s!", gazebo_ros_->info(), motor_power_topic.c_str());


std::string odom_reset_topic = base_prefix + "/commands/reset_odometry";
std::string odom_reset_topic = base_prefix + "commands/reset_odometry";
odom_reset_sub_ = gazebo_ros_->node()->subscribe(odom_reset_topic, 10, &GazeboRosKobuki::resetOdomCB, this);
ROS_INFO("%s: Try to subscribe to %s!", gazebo_ros_->info(), odom_reset_topic.c_str());

// cmd_vel
std::string cmd_vel = base_prefix + "/commands/velocity";
std::string cmd_vel = base_prefix + "commands/velocity";
cmd_vel_sub_ = gazebo_ros_->node()->subscribe(cmd_vel, 100, &GazeboRosKobuki::cmdVelCB, this);
ROS_INFO("%s: Try to subscribe to %s!", gazebo_ros_->info(), motor_power_topic.c_str());

// cliff
std::string cliff_topic = base_prefix + "/events/cliff";
std::string cliff_topic = base_prefix + "events/cliff";
cliff_event_pub_ = gazebo_ros_->node()->advertise<kobuki_msgs::CliffEvent>(cliff_topic, 1);
ROS_INFO("%s: Advertise Cliff[%s]!", gazebo_ros_->info(), cliff_topic.c_str());

// bumper
std::string bumper_topic = base_prefix + "/events/bumper";
std::string bumper_topic = base_prefix + "events/bumper";
bumper_event_pub_ = gazebo_ros_->node()->advertise<kobuki_msgs::BumperEvent>(bumper_topic, 1);
ROS_INFO("%s: Advertise Bumper[%s]!", gazebo_ros_->info(), bumper_topic.c_str());

// IMU
std::string imu_topic = base_prefix + "/sensors/imu_data";
std::string imu_topic = base_prefix + "sensors/imu_data";
imu_pub_ = gazebo_ros_->node()->advertise<sensor_msgs::Imu>(imu_topic, 1);
ROS_INFO("%s: Advertise IMU[%s]!", gazebo_ros_->info(), imu_topic.c_str());
}
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