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Add documentation on node parameter #263

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Mar 9, 2020
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Add documentation on node parameter #263

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67be058
Add documentation on node parameter
pjreed Nov 4, 2019
a887468
Update articles/141_static_remapping.md
pjreed Nov 5, 2019
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14 changes: 8 additions & 6 deletions articles/141_static_remapping.md
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Expand Up @@ -191,7 +191,7 @@ ROS 1 has this feature using either the environment variable `ROS_NAMESPACE` or
### Change the Node Name

The node name is used in log messages and to create private names.
ROS 1 has this feature using the argument `__node`.
ROS 1 has this feature using the argument `__name`.

*Example:*

Expand Down Expand Up @@ -271,7 +271,7 @@ The operators `*` and `**` are similar to the globbing behavior in bash.
`**` behaves similar to its use in bash>=4.0 with the globstar option set.

The URL schemes `rosservice://` and `rostopic://` may only be given to topic or service name rules.
They may not be prefixed to a node name or namespace replacement rule (`__node` or `__ns`).
They may not be prefixed to a node name or namespace replacement rule (`__name`, `__node`, or `__ns`).
If both a node name prefix and URL scheme are given, the node name prefix must come first.

`*`, and `**` match whole tokens only.
Expand Down Expand Up @@ -316,7 +316,7 @@ The replacement side of a rule must have a FQN which will become the new default

#### Special Rule for Changing the Node Name

The string `__node` can be given on the match part of a rule to signal a change of the node's name.
The strings `__name` or `__node` can be given on the match part of a rule to signal a change of the node's name.
On the match side it may be used by itself or with a `nodename:` prefix.
The replacement must be a single token which will become the node's new name.

Expand Down Expand Up @@ -438,16 +438,18 @@ All relative names are expanded to the new namespace before any remapping rules
#### Supporting: Change the Node Name

This also isn't a true remapping rule, but the syntax is similar.
In ROS 1 the argument `__node:=` could change the node's name.
In ROS 1 the argument `__name:=` could change the node's name.
Here the syntax is the same, and additionally it can be prefixed with a node's current name.
The argument `__node:=` is identical.
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The replacement side must have a single token.
Log messages use the new name immediately.
All private names are expanded to the new name before any remapping rules are applied to them.

*Examples:*

- `__node:=lef_camera_driver`
- `camera_driver:__node:=left_camera_driver`
- `__name:=left_camera_driver`
- `__node:=left_camera_driver`
- `camera_driver:__name:=left_camera_driver`

#### Supporting: Remap Topic and Service Names Separately
Specifying a URL scheme on the match side of the rule makes it exclusive to one type of name.
Expand Down