Fix resolving sub-namespaces incorrectly

Signed-off-by: Markus Hofstaetter <[email protected]>
ros-perception · May 5, 2021 · d2275bc · d2275bc
1 parent 872a6de
commit d2275bc
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Showing 4 changed files with 23 additions and 5 deletions.
diff --git a/image_transport/include/image_transport/camera_publisher.h b/image_transport/include/image_transport/camera_publisher.h
@@ -38,8 +38,8 @@
 #ifndef IMAGE_TRANSPORT__CAMERA_PUBLISHER_H_
 #define IMAGE_TRANSPORT__CAMERA_PUBLISHER_H_
 
-#pragma message ("Warning: This header is deprecated. Use 'cammera_publisher.hpp' instead")
+#pragma message ("Warning: This header is deprecated. Use 'camera_publisher.hpp' instead")
 
-#include "cammera_publisher.hpp"
+#include "camera_publisher.hpp"
 
 #endif  // IMAGE_TRANSPORT__CAMERA_PUBLISHER_H_
diff --git a/image_transport/src/camera_publisher.cpp b/image_transport/src/camera_publisher.cpp
@@ -87,8 +87,14 @@ CameraPublisher::CameraPublisher(
 {
   // Explicitly resolve name here so we compute the correct CameraInfo topic when the
   // image topic is remapped (#4539).
+
+  // FIXME: once https://github.com/ros2/rclcpp/issues/1656 is resolved, see #187
+  std::string effective_namespace = node->get_effective_namespace();
+  if (effective_namespace.length() > 1 && effective_namespace.back() == '/')
+    effective_namespace.pop_back();
+
   std::string image_topic = rclcpp::expand_topic_or_service_name(base_topic,
-      node->get_name(), node->get_namespace());
+      node->get_name(), effective_namespace);
   std::string info_topic = getCameraInfoTopic(image_topic);
 
   auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos);

diff --git a/image_transport/src/camera_subscriber.cpp b/image_transport/src/camera_subscriber.cpp
@@ -120,8 +120,14 @@ CameraSubscriber::CameraSubscriber(
 {
   // Must explicitly remap the image topic since we then do some string manipulation on it
   // to figure out the sibling camera_info topic.
+
+  // FIXME: once https://github.com/ros2/rclcpp/issues/1656 is resolved, see #187
+  std::string effective_namespace = node->get_effective_namespace();
+  if (effective_namespace.length() > 1 && effective_namespace.back() == '/')
+    effective_namespace.pop_back();
+
   std::string image_topic = rclcpp::expand_topic_or_service_name(base_topic,
-      node->get_name(), node->get_namespace());
+      node->get_name(), effective_namespace);
   std::string info_topic = getCameraInfoTopic(image_topic);
 
   impl_->image_sub_.subscribe(node, image_topic, transport, custom_qos);

diff --git a/image_transport/src/publisher.cpp b/image_transport/src/publisher.cpp
@@ -105,8 +105,14 @@ Publisher::Publisher(
 {
   // Resolve the name explicitly because otherwise the compressed topics don't remap
   // properly (#3652).
+
+  // FIXME: once https://github.com/ros2/rclcpp/issues/1656 is resolved, see #187
+  std::string effective_namespace = node->get_effective_namespace();
+  if (effective_namespace.length() > 1 && effective_namespace.back() == '/')
+    effective_namespace.pop_back();
+
   std::string image_topic = rclcpp::expand_topic_or_service_name(base_topic,
-      node->get_name(), node->get_namespace());
+      node->get_name(), effective_namespace);
   impl_->base_topic_ = image_topic;
   impl_->loader_ = loader;