Add optional namespace field to task nodes

tesseract-robotics · Jan 8, 2024 · fcf5f7c · fcf5f7c
1 parent 2e1e31c
commit fcf5f7c
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/tesseract_task_composer/core/src/task_composer_graph.cpp b/tesseract_task_composer/core/src/task_composer_graph.cpp
@@ -79,7 +79,11 @@ TaskComposerGraph::TaskComposerGraph(std::string name,
       if (YAML::Node cn = node_it->second["config"])
         plugin_info.config = cn;
 
-      TaskComposerNode::UPtr task_node = plugin_factory.createTaskComposerNode(node_name, plugin_info);
+      std::string namespace_name = node_name;
+      if (YAML::Node ns = node_it->second["namespace"])
+        namespace_name = ns.as<std::string>();
+
+      TaskComposerNode::UPtr task_node = plugin_factory.createTaskComposerNode(namespace_name, plugin_info);
       if (task_node == nullptr)
         throw std::runtime_error("Task Composer Graph '" + name_ + "' failed to create node '" + node_name + "'");