Effective namespace is not necessary with node

ros-perception · May 5, 2021 · 4a405cc · 4a405cc
1 parent 6ba4560
commit 4a405cc
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Showing 2 changed files with 9 additions and 3 deletions.
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_effective_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/republish.cpp b/image_transport/src/republish.cpp
@@ -52,9 +52,9 @@ int main(int argc, char ** argv)
   auto node = rclcpp::Node::make_shared("image_republisher");
 
   std::string in_topic = rclcpp::expand_topic_or_service_name("in",
-      node->get_name(), node->get_effective_namespace());
+      node->get_name(), node->get_namespace());
   std::string out_topic = rclcpp::expand_topic_or_service_name("out",
-      node->get_name(), node->get_effective_namespace());
+      node->get_name(), node->get_namespace());
 
   std::string in_transport = vargv[1];