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fix(rtc_interface): fix name space #1976

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merged 1 commit into from
Sep 29, 2022
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fix(rtc_interface): fix name space #1976

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5 changes: 2 additions & 3 deletions planning/rtc_interface/include/rtc_interface/rtc_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,9 +75,8 @@ class RTCInterface
CooperateStatusArray registered_status_;
bool is_auto_mode_;

// TEMPORARY: Name space will be changed.
// std::string cooperate_status_namespace_ = "/planning/cooperate_status";
// std::string cooperate_commands_namespace_ = "/planning/cooperate_commands";
std::string cooperate_status_namespace_ = "/planning/cooperate_status";
std::string cooperate_commands_namespace_ = "/planning/cooperate_commands";
std::string enable_auto_mode_namespace_ = "/planning/enable_auto_mode/internal";
};

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4 changes: 2 additions & 2 deletions planning/rtc_interface/src/rtc_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -76,12 +76,12 @@ RTCInterface::RTCInterface(rclcpp::Node * node, const std::string & name)

// Publisher
pub_statuses_ =
node->create_publisher<CooperateStatusArray>("~/" + name + "/cooperate_status", 1);
node->create_publisher<CooperateStatusArray>(cooperate_status_namespace_ + "/" + name, 1);

// Service
callback_group_ = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
srv_commands_ = node->create_service<CooperateCommands>(
"~/" + name + "/cooperate_commands",
cooperate_commands_namespace_ + "/" + name,
std::bind(&RTCInterface::onCooperateCommandService, this, _1, _2),
rmw_qos_profile_services_default, callback_group_);
srv_auto_mode_ = node->create_service<AutoMode>(
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