From f34951a025e90bd9ffac25b0057d256d72a475c5 Mon Sep 17 00:00:00 2001
From: Kanae Kochigami <kochigami@jsk.imi.i.i.u-tokyo.ac.jp>
Date: Tue, 14 Feb 2017 13:58:14 +0900
Subject: [PATCH 1/3] [ros_env.hpp] delete std::getenv(ROS_NAMESPACE)

---
 src/ros_env.hpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/ros_env.hpp b/src/ros_env.hpp
index c929b902..4c71c1df 100644
--- a/src/ros_env.hpp
+++ b/src/ros_env.hpp
@@ -89,8 +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
-  const char* ns_env = std::getenv("ROS_NAMESPACE");
-  ros::init( remap, (ns_env==NULL)?(std::string("naoqi_driver_node")):(::naoqi::ros_env::getPrefix()) , ros::init_options::NoSigintHandler );
+  ros::init(remap, std::string("naoqi_driver_node"), ros::init_options::NoSigintHandler);
   // to prevent shutdown based on no existing nodehandle
   ros::start();
 

From d38fed474ff45098f00b3c44185f6ed920669e02 Mon Sep 17 00:00:00 2001
From: Kanae Kochigami <kochigami@jsk.imi.i.u-tokyo.ac.jp>
Date: Wed, 15 Feb 2017 15:42:55 +0900
Subject: [PATCH 2/3] add namespace param to naoqi_driver.launch

---
 launch/naoqi_driver.launch | 4 ++--
 src/ros_env.hpp            | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/launch/naoqi_driver.launch b/launch/naoqi_driver.launch
index fbb04f83..a89a0957 100644
--- 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
index 4c71c1df..23acc502 100644
--- 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();
 

From 106c98c01dd894484e198da04739e5ee1e7ae024 Mon Sep 17 00:00:00 2001
From: Kanae Kochigami <kochigami@jsk.imi.i.u-tokyo.ac.jp>
Date: Fri, 17 Feb 2017 11:50:17 +0900
Subject: [PATCH 3/3] delete optenv

---
 launch/naoqi_driver.launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/launch/naoqi_driver.launch b/launch/naoqi_driver.launch
index a89a0957..06560635 100644
--- a/launch/naoqi_driver.launch
+++ b/launch/naoqi_driver.launch
@@ -4,7 +4,7 @@
   <arg name="nao_port"          default="$(optenv NAO_PORT 9559)" />
   <arg name="roscore_ip"        default="127.0.0.1" />
   <arg name="network_interface" default="eth0" />
-  <arg name="namespace" default="$(optenv ROS_NAMESPACE naoqi_driver_node)" />
+  <arg name="namespace" default="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>