Fix node name collisions

Make sure service clients have a unique node name (this was a problem in recoveries nodes) Delimit ros arguments with new `--ros-args`,`--`
ros-navigation · Aug 8, 2019 · a111076 · a111076
1 parent 8c4960e
commit a111076
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Showing 7 changed files with 9 additions and 12 deletions.
diff --git a/nav2_bt_navigator/src/bt_navigator.cpp b/nav2_bt_navigator/src/bt_navigator.cpp
@@ -45,8 +45,7 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/)
   RCLCPP_INFO(get_logger(), "Configuring");
   auto node = shared_from_this();
 
-  auto options = rclcpp::NodeOptions().arguments(
-    {std::string("__node:=") + get_name() + "_client_node"});
+  auto options = rclcpp::NodeOptions().arguments(    {  "--ros-args",     std::string("__node:=") + get_name() + "_client_node", "--"});
   // Support for handling the topic-based goal pose from rviz
   client_node_ = std::make_shared<rclcpp::Node>("_", options);
 

diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -58,7 +58,7 @@ Costmap2DROS::Costmap2DROS(const std::string & name)
 {
   RCLCPP_INFO(get_logger(), "Creating");
   auto options = rclcpp::NodeOptions().arguments(
-    {std::string("__node:=") + get_name() + "_client"});
+    {"--ros-args", std::string("__node:=") + get_name() + "_client","--"});
   client_node_ = std::make_shared<rclcpp::Node>("_", options);
 
   std::vector<std::string> plugin_names{"static_layer", "obstacle_layer", "inflation_layer"};

diff --git a/nav2_lifecycle_manager/src/lifecycle_manager.cpp b/nav2_lifecycle_manager/src/lifecycle_manager.cpp
@@ -55,7 +55,7 @@ LifecycleManager::LifecycleManager()
       std::bind(&LifecycleManager::shutdownCallback, this, _1, _2, _3));
 
   auto options = rclcpp::NodeOptions().arguments(
-    {std::string("__node:=") + get_name() + "service_client"});
+  {"--ros-args", std::string("__node:=") + get_name() + "service_client", "--"});
   service_client_node_ = std::make_shared<rclcpp::Node>("_", options);
 
   transition_state_map_[Transition::TRANSITION_CONFIGURE] = State::PRIMARY_STATE_INACTIVE;

diff --git a/nav2_rviz_plugins/src/navigation_dialog.cpp b/nav2_rviz_plugins/src/navigation_dialog.cpp
@@ -43,7 +43,7 @@ NavigationDialog::NavigationDialog(QWidget * parent)
 : QDialog(parent)
 {
   auto options = rclcpp::NodeOptions().arguments(
-    {"__node:=navigation_dialog_action_client"});
+    {"--ros-args", "__node:=navigation_dialog_action_client","--"});
   client_node_ = std::make_shared<rclcpp::Node>("_", options);
   action_client_ = rclcpp_action::create_client<nav2_msgs::action::NavigateToPose>(client_node_,
       "NavigateToPose");

diff --git a/nav2_util/include/nav2_util/service_client.hpp b/nav2_util/include/nav2_util/service_client.hpp
@@ -43,10 +43,7 @@ class ServiceClient
   ServiceClient(const std::string & service_name, const std::string & parent_name)
   : service_name_(service_name)
   {
-    auto options = rclcpp::NodeOptions().arguments(
-      {"__node:=" + parent_name + std::string("_") + service_name +
-        "_client"});
-    node_ = rclcpp::Node::make_shared("_", options);
+    node_ = generate_internal_node(parent_name + std::string("_") + service_name + "_client");
     client_ = node_->create_client<ServiceT>(service_name);
   }
 

diff --git a/nav2_util/src/lifecycle_node.cpp b/nav2_util/src/lifecycle_node.cpp
@@ -49,8 +49,9 @@ LifecycleNode::LifecycleNode(
 {
   if (use_rclcpp_node_) {
     std::vector<std::string> new_args = options.arguments();
-    new_args.push_back(
-      std::string("__node:=") + this->get_name() + "_rclcpp_node");
+    new_args.push_back("--ros-args");
+    new_args.push_back(std::string("__node:=") + this->get_name() + "_rclcpp_node");
+    new_args.push_back("--");
     rclcpp_node_ = std::make_shared<rclcpp::Node>(
       "_", namespace_, rclcpp::NodeOptions(options).arguments(new_args));
     rclcpp_exec_ = std::make_unique<rclcpp::executors::SingleThreadedExecutor>();

diff --git a/nav2_util/src/node_utils.cpp b/nav2_util/src/node_utils.cpp
@@ -69,7 +69,7 @@ rclcpp::Node::SharedPtr generate_internal_node(const std::string & prefix)
     rclcpp::NodeOptions()
     .start_parameter_services(false)
     .start_parameter_event_publisher(false)
-    .arguments({"__node:=" + generate_internal_node_name(prefix)});
+    .arguments({"--ros-args", "__node:=" + generate_internal_node_name(prefix), "--"});
   return rclcpp::Node::make_shared("_", options);
 }