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Simplify controller manager namespacing #2210

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merged 2 commits into from
Jun 5, 2023
Merged

Simplify controller manager namespacing #2210

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2dd1d73
Simplify controller manager namespacing
May 30, 2023
0ee7934
Merge branch 'main' into seng/controller_namespacing
sjahr Jun 5, 2023
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17 changes: 6 additions & 11 deletions moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -249,7 +249,8 @@ class Ros2ControlManager : public moveit_controller_manager::MoveItControllerMan
* \brief Configure interface with namespace
* @param ns namespace of ros_control node (without /controller_manager/)
*/
Ros2ControlManager(const std::string& ns)
[[deprecated("Ros2ControlManager constructor with namespace is deprecated. Set namespace via the "
"ros_control_namespace parameter.")]] Ros2ControlManager(const std::string& ns)
: ns_(ns), loader_("moveit_ros_control_interface", "moveit_ros_control_interface::ControllerHandleAllocator")
{
RCLCPP_INFO_STREAM(LOGGER, "Started moveit_ros_control_interface::Ros2ControlManager for namespace " << ns_);
Expand All @@ -258,18 +259,12 @@ class Ros2ControlManager : public moveit_controller_manager::MoveItControllerMan
void initialize(const rclcpp::Node::SharedPtr& node) override
{
node_ = node;
if (!ns_.empty())
// Set the namespace from the ros_control_namespace parameter, or default to "/"
if (!node_->has_parameter("ros_control_namespace"))
{
if (!node_->has_parameter("ros_control_namespace"))
{
ns_ = node_->declare_parameter<std::string>("ros_control_namespace", "/");
}
else
{
node_->get_parameter<std::string>("ros_control_namespace", ns_);
}
ns_ = node_->declare_parameter<std::string>("ros_control_namespace", "/");
}
else if (node->has_parameter("ros_control_namespace"))
else
{
node_->get_parameter<std::string>("ros_control_namespace", ns_);
RCLCPP_INFO_STREAM(LOGGER, "Namespace for controller manager was specified, namespace: " << ns_);
Expand Down