add node name to user data

ros2 · Jan 26, 2018 · a175c12 · a175c12
1 parent d0707a0
commit a175c12
Showing 1 changed file with 12 additions and 0 deletions.
diff --git a/rmw_fastrtps_cpp/src/rmw_node.cpp b/rmw_fastrtps_cpp/src/rmw_node.cpp
@@ -217,7 +217,19 @@ rmw_create_node(
   Domain::getDefaultParticipantAttributes(participantAttrs);
 
   participantAttrs.rtps.builtin.domainId = static_cast<uint32_t>(domain_id);
+  // since the participant name is not part of the DDS spec
   participantAttrs.rtps.setName(name);
+  // the node name is also set in the user_data
+  size_t name_length = strlen(name);
+  const char prefix[6] = "name=";
+  participantAttrs.rtps.userData.resize(name_length + sizeof(prefix));
+  memcpy(participantAttrs.rtps.userData.data(), prefix, sizeof(prefix) - 1);
+  {
+    for (size_t i = 0; i < name_length; ++i) {
+      participantAttrs.rtps.userData[sizeof(prefix) - 1 + i] = name[i];
+    }
+    participantAttrs.rtps.userData[sizeof(prefix) - 1 + name_length] = ';';
+  }
 
   if (security_options->security_root_path) {
     // if security_root_path provided, try to find the key and certificate files