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PickNikRobotics / parameter_tools

Patterns and sugar for ROS2 parameters
BSD 3-Clause "New" or "Revised" License
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Parameter Set #3

Open tylerjw opened 3 years ago

tylerjw commented 3 years ago

This PR is a draft because it adds a dependency on absl and there is a hack to install it via a ppa to get CI to pass.

This now comes with nearly 100% code coverage.

codecov[bot] commented 3 years ago

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v4hn commented 3 years ago

On Mon, Oct 04, 2021 at 02:16:13PM -0700, Tyler Weaver wrote:

from experiencing this is what I think happens:

'/topic_name' -> '/topic_name' 'topic_name' -> '/node_name/topic_name' '~/topic_name' -> '/node_name/topic_name'

Looking at ros2 design documents for this, this behavior is configurable via the default namespace setting. I expect that we want to set __ns such that for a node /a/node_name

'topic_name' -> '/a/topic_name'

Maybe there is a problematic default working against this upstream or the moveit2 launch files need to be adapted?