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Add topic namespace support for micrortps agent generation

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Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen
2020-11-26 12:34:56 +00:00
committed by Nuno Marques
parent ce8f4dece2
commit fdb4ede6c2
7 changed files with 46 additions and 25 deletions
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msg/templates/urtps/Publisher.cpp.em
+14 -5
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@@ -82,7 +82,7 @@ except AttributeError:
Domain::removeParticipant(mp_participant);
}
bool @(topic)_Publisher::init()
bool @(topic)_Publisher::init(const std::string& ns)
{
// Create RTPSParticipant
ParticipantAttributes PParam;
@@ -96,7 +96,9 @@ bool @(topic)_Publisher::init()
@[else]@
PParam.rtps.builtin.discovery_config.leaseDuration = c_TimeInfinite;
@[end if]@
PParam.rtps.setName("@(topic)_publisher"); //You can put here the name you want
std::string nodeName = ns;
nodeName.append("@(topic)_publisher");
PParam.rtps.setName(nodeName.c_str());
mp_participant = Domain::createParticipant(PParam);
if(mp_participant == nullptr)
return false;
@@ -111,12 +113,19 @@ bool @(topic)_Publisher::init()
@[if ros2_distro]@
@[ if ros2_distro == "ardent"]@
Wparam.qos.m_partition.push_back("rt");
Wparam.topic.topicName = "@(topic)_PubSubTopic";
std::string topicName = ns;
topicName.append("@(topic)_PubSubTopic");
Wparam.topic.topicName = topicName;
@[ else]@
Wparam.topic.topicName = "rt/@(topic)_PubSubTopic";
std::string topicName = "rt/";
topicName.append(ns);
topicName.append("@(topic)_PubSubTopic");
Wparam.topic.topicName = topicName;
@[ end if]@
@[else]@
Wparam.topic.topicName = "@(topic)PubSubTopic";
std::string topicName = ns;
topicName.append("@(topic)PubSubTopic");
Wparam.topic.topicName = topicName;
@[end if]@
mp_publisher = Domain::createPublisher(mp_participant, Wparam, static_cast<PublisherListener*>(&m_listener));
if(mp_publisher == nullptr)