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Use of -r/--remap flags where appropriate. #159

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Merged
hidmic merged 1 commit into from
Sep 3, 2019
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Use of -r/--remap flags where appropriate. #159

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2 changes: 1 addition & 1 deletion tf2_ros/src/transform_listener.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,7 @@ TransformListener::TransformListener(tf2::BufferCore & buffer, bool spin_thread)
sstream << "transform_listener_impl_" << std::hex << reinterpret_cast<size_t>(this);
rclcpp::NodeOptions options;
// but specify its name in .arguments to override any __node passed on the command line
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@ivanpauno ivanpauno Aug 29, 2019

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The change looks good, but I don't like the original motivation of this.

The node name uniqueness problem shouldn't be solved by generating a random name and overriding the command passed in the command line.
If someone wants to launch multiple TransformListener, they should carefully remap the node name.
I'm not sure if that's possible, because TransformListener isn't exactly a node. But in the case it's not possible, I think that problem should be solved instead of doing this.

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@hidmic hidmic Sep 2, 2019

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I won't weigh into the correctness of the workaround, just to keep this scoped. I'll defer to @rotu and @gonzodepedro, author and reviewer of #129 respectively, for that.

options.arguments({"__node:=" + std::string(sstream.str())});
options.arguments({"-r", "__node:=" + std::string(sstream.str())});
options.start_parameter_event_publisher(false);
options.start_parameter_services(false);
optional_default_node_ = rclcpp::Node::make_shared("_", options);
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