Remove node name argument (will be inferred from sdf)

ros-simulation · Aug 24, 2018 · a85e876 · a85e876
1 parent 1df6036
commit a85e876
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Showing 9 changed files with 18 additions and 17 deletions.
diff --git a/gazebo_plugins/src/gazebo_ros_force.cpp b/gazebo_plugins/src/gazebo_ros_force.cpp
@@ -73,7 +73,7 @@ void GazeboRosForce::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf)
   }
 
   // Subscribe to wrench messages
-  impl_->ros_node_ = gazebo_ros::Node::Get("gazebo_ros_force", sdf);
+  impl_->ros_node_ = gazebo_ros::Node::Get(sdf);
 
   impl_->wrench_sub_ = impl_->ros_node_->create_subscription<geometry_msgs::msg::Wrench>(
     "gazebo_ros_force", std::bind(&GazeboRosForce::OnRosWrenchMsg, this,

diff --git a/gazebo_plugins/src/gazebo_ros_imu_sensor.cpp b/gazebo_plugins/src/gazebo_ros_imu_sensor.cpp
@@ -57,7 +57,7 @@ GazeboRosImuSensor::~GazeboRosImuSensor()
 
 void GazeboRosImuSensor::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _sdf)
 {
-  impl_->ros_node_ = gazebo_ros::Node::Get("gazebo_ros_imu_sensor", _sdf);
+  impl_->ros_node_ = gazebo_ros::Node::Get(_sdf);
 
   impl_->sensor_ = std::dynamic_pointer_cast<gazebo::sensors::ImuSensor>(_sensor);
   if (!impl_->sensor_) {

diff --git a/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp b/gazebo_plugins/src/gazebo_ros_joint_state_publisher.cpp
@@ -85,7 +85,7 @@ GazeboRosJointStatePublisher::~GazeboRosJointStatePublisher()
 void GazeboRosJointStatePublisher::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf)
 {
   // ROS node
-  impl_->ros_node_ = gazebo_ros::Node::Get("gazebo_ros_joint_state_publisher", sdf);
+  impl_->ros_node_ = gazebo_ros::Node::Get(sdf);
 
   // Joints
   if (!sdf->HasElement("joint_name")) {

diff --git a/gazebo_plugins/src/gazebo_ros_ray_sensor.cpp b/gazebo_plugins/src/gazebo_ros_ray_sensor.cpp
@@ -100,7 +100,7 @@ GazeboRosRaySensor::~GazeboRosRaySensor()
 void GazeboRosRaySensor::Load(gazebo::sensors::SensorPtr _sensor, sdf::ElementPtr _sdf)
 {
   // Create ros_node configured from sdf
-  impl_->ros_node_ = gazebo_ros::Node::Get("gazebo_ray_sensor", _sdf);
+  impl_->ros_node_ = gazebo_ros::Node::Get(_sdf);
 
   // Get tf frame for output
   impl_->frame_name_ = gazebo_ros::SensorFrameID(*_sensor, *_sdf);

diff --git a/gazebo_plugins/src/gazebo_ros_template.cpp b/gazebo_plugins/src/gazebo_ros_template.cpp
@@ -46,7 +46,7 @@ void GazeboRosTemplate::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sd
   // Create a GazeboRos node instead of a common ROS node.
   // Pass it SDF parameters so common options like namespace and remapping
   // can be handled.
-  impl_->ros_node_ = gazebo_ros::Node::Get("gazebo_ros_template", sdf);
+  impl_->ros_node_ = gazebo_ros::Node::Get(sdf);
 
   // The model pointer gives you direct access to the physics object,
   // for example:

diff --git a/gazebo_plugins/test/worlds/gazebo_ros_imu_sensor.world b/gazebo_plugins/test/worlds/gazebo_ros_imu_sensor.world
@@ -69,7 +69,7 @@
               </z>
             </linear_acceleration>
           </imu>
-          <plugin name="my_imu_plugin" filename="libgazebo_ros_imu_sensor.so">
+          <plugin name="my_imuasdf_plugin" filename="libgazebo_ros_imu_sensor.so">
             <ros>
               <namespace>/imu</namespace>
               <argument>~/out:=data</argument>

diff --git a/gazebo_ros/include/gazebo_ros/node.hpp b/gazebo_ros/include/gazebo_ros/node.hpp
@@ -67,11 +67,10 @@ class Node : public rclcpp::Node
    *  <parameter name="publish_odom" type="bool">True</parameter>
    * </ros>
    * \endcode
-   * \param[in] node_name Name of node to create
    * \param[in] _sdf An SDF element in the style above or containing a <ros> tag in the style above
    * \return A shared pointer to a new #gazebo_ros::Node
    */
-  static SharedPtr Get(const std::string & node_name, sdf::ElementPtr _sdf);
+  static SharedPtr Get(sdf::ElementPtr _sdf);
 
   /// Create a #gazebo_ros::Node and add it to the global #gazebo_ros::Executor.
   /**

diff --git a/gazebo_ros/src/node.cpp b/gazebo_ros/src/node.cpp
@@ -29,22 +29,24 @@ Node::~Node()
 {
 }
 
-Node::SharedPtr Node::Get(const std::string & node_name, sdf::ElementPtr sdf)
+Node::SharedPtr Node::Get(sdf::ElementPtr sdf)
 {
+  // Initialize arguments
   std::string name = "";
-  if (!name = sdf->Attribute("name")) {
-    ignerr << "Name not passed" << std::endl;
+  std::string ns = "";
+  std::vector<std::string> arguments;
+  std::vector<rclcpp::Parameter> initial_parameters;
+
+  // Get the name of the plugin as the name for the node.
+  if (!sdf->HasAttribute("name")) {
+    RCLCPP_WARN(internal_logger(), "Name of plugin not found.");
   }
+  name = sdf->Get<std::string>("name");
   // Get inner <ros> element if full plugin sdf was passed in
   if (sdf->HasElement("ros")) {
     sdf = sdf->GetElement("ros");
   }
 
-  // Initialize arguments
-  std::string ns = "";
-  std::vector<std::string> arguments;
-  std::vector<rclcpp::Parameter> initial_parameters;
-
   // Set namespace if tag is present
   if (sdf->HasElement("namespace")) {
     ns = sdf->GetElement("namespace")->Get<std::string>();

diff --git a/gazebo_ros/test/plugins/sdf_node.cpp b/gazebo_ros/test/plugins/sdf_node.cpp
@@ -36,7 +36,7 @@ class SDFNode : public gazebo::WorldPlugin
 void SDFNode::Load(gazebo::physics::WorldPtr, sdf::ElementPtr _sdf)
 {
   // It should be ok to create a node without calling init first.
-  auto node = gazebo_ros::Node::Get("sdf_node", _sdf);
+  auto node = gazebo_ros::Node::Get(_sdf);
   assert(nullptr != node);
 
   const char * node_name = node->get_name();