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Intermodalics / tango_ros

ROS related software for Tango
Apache License 2.0
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Allow to configure topic names in tango_ros_node #288

Closed adamantivm closed 7 years ago

adamantivm commented 7 years ago

When integrating tango_ros_node in another rosjava application (i.e. Tangobot) it is currently not possible to configure topic names, remappings or namespaces.

it would be very valuable to extend tango_ros_node to take in topic remapping arguments in general from the rosjava side and pass them through to the native node

PerrineAguiar commented 7 years ago

@adamantivm Can you provide a pointer on existing way to do this in ROSJava?

jubeira commented 7 years ago

The NativeNodeMain's execute has a parameter for remapping arguments: https://github.com/jubeira/rosjava_core/blob/8c895e48799509e6792f0323b473de5dcb31e155/rosjava/src/main/java/org/ros/node/NativeNodeMain.java#L82 Those arguments have to be fetched from the native side off the application via JNI. I don't know exactly where they have to be used and how, but I see that when you load the nodelet, an empty map<string, string> is sent as argument. You probably need to fill that one. Hope it helps for a start!

adamantivm commented 7 years ago

+1 thanks @jubeira that's exactly what I would have said

PerrineAguiar commented 7 years ago

@jubeira Thanks for the pointer and the explanation!