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Fix resolving sub-namespaces incorrectly #188

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Fix resolving sub-namespaces incorrectly #188

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8 changes: 7 additions & 1 deletion image_transport/src/camera_publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
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8 changes: 7 additions & 1 deletion image_transport/src/camera_subscriber.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
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8 changes: 7 additions & 1 deletion image_transport/src/publisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;

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