add namespace param to naoqi_driver.launch

ros-naoqi · Feb 15, 2017 · d38fed4 · d38fed4
1 parent f34951a
commit d38fed4
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/launch/naoqi_driver.launch b/launch/naoqi_driver.launch
@@ -4,7 +4,7 @@
   <arg name="nao_port"          default="$(optenv NAO_PORT 9559)" />
   <arg name="roscore_ip"        default="127.0.0.1" />
   <arg name="network_interface" default="eth0" />
-
-  <node pkg="naoqi_driver" type="naoqi_driver_node" name="naoqi_driver" required="true" args="--qi-url=tcp://$(arg nao_ip):$(arg nao_port) --roscore_ip=$(arg roscore_ip) --network_interface=$(arg network_interface)" output="screen" />
+  <arg name="namespace" default="$(optenv ROS_NAMESPACE naoqi_driver_node)" />
+  <node pkg="naoqi_driver" type="naoqi_driver_node" name="naoqi_driver" required="true" args="--qi-url=tcp://$(arg nao_ip):$(arg nao_port) --roscore_ip=$(arg roscore_ip) --network_interface=$(arg network_interface) --namespace=$(arg namespace)" output="screen" />
 
 </launch>
diff --git a/src/ros_env.hpp b/src/ros_env.hpp
@@ -89,7 +89,7 @@ static void setMasterURI( const std::string& uri, const std::string& network_int
   remap["__master"] = uri;
   remap["__ip"] = ::naoqi::ros_env::getROSIP(network_interface);
   // init ros without a sigint-handler in order to shutdown correctly by naoqi
-  ros::init(remap, std::string("naoqi_driver_node"), ros::init_options::NoSigintHandler);
+  ros::init( remap, (::naoqi::ros_env::getPrefix()) , ros::init_options::NoSigintHandler );
   // to prevent shutdown based on no existing nodehandle
   ros::start();