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[fix] Fixing the namespacing for the sonar plugin #76

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[fix] Fixing the namespacing for the sonar plugin #76

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a51adf2
[fix] Fixing the namespacing for the sonar plugin
Aug 24, 2020
4429a4f
[fix] Updated fix with an option to use the default Namespacing
RaquelTirach Sep 8, 2020
38f083f
[fix] Changed if statement such that robotNamespace tag is always che…
RaquelTirach Sep 8, 2020
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20 changes: 18 additions & 2 deletions hector_gazebo_plugins/src/gazebo_ros_sonar.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,8 @@

#include <gazebo/gazebo_config.h>

#include <boost/algorithm/string.hpp>

namespace gazebo {

GazeboRosSonar::GazeboRosSonar()
Expand Down Expand Up @@ -84,8 +86,22 @@ void GazeboRosSonar::Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf)
frame_id_ = "/sonar_link";

// load parameters
if (_sdf->HasElement("robotNamespace"))
namespace_ = _sdf->GetElement("robotNamespace")->GetValue()->GetAsString();
if (_sdf->HasElement("useNamespaceFromScopedName")){
if (_sdf->GetElement("useNamespaceFromScopedName")){
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This should be an and &&. Otherwise, the option existing but set to false would not initialize the namespace at all.
Also, I'm pretty sure you also have to extract the value using GetValue()->GetAsBool().

And please follow the code style of the project, e.g., brackets {} on new lines, no spaces between function names and parameters etc.

std::vector<std::string> values;
std::string scopedName = _sensor->ScopedName();
boost::replace_all ( scopedName, "::", ",");
boost::split ( values, scopedName, boost::is_any_of (","));
if ( values.size()<2){
namespace_ = "";
} else {
namespace_ = values[1];
}
}
}else if (_sdf->HasElement("robotNamespace")){
namespace_ = _sdf->GetElement("robotNamespace")->GetValue()->GetAsString();
}


if (_sdf->HasElement("frameId"))
frame_id_ = _sdf->GetElement("frameId")->GetValue()->GetAsString();
Expand Down