Using ComposableNodeContainer for both gz_server and ros_gz_bridge caused a new container to be created for each of them. This changes ros_gz_bridge to use LoadComposableNodes which uses an existing container, which would be created when launching gz_server. I've tested that this works even if ros_gz_bridge was launched first.
This also adds a required name parameter for the bridge so that multiple different bridges can be created without name collision
Checklist
[ ] Signed all commits for DCO
[ ] Added tests
[ ] Updated documentation (as needed)
[ ] Updated migration guide (as needed)
[ ] Consider updating Python bindings (if the library has them)
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🦟 Bug fix
Part of #544
Summary
Using
ComposableNodeContainerfor bothgz_serverandros_gz_bridgecaused a new container to be created for each of them. This changes ros_gz_bridge to useLoadComposableNodeswhich uses an existing container, which would be created when launchinggz_server. I've tested that this works even ifros_gz_bridgewas launched first.This also adds a required
nameparameter for the bridge so that multiple different bridges can be created without name collisionChecklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.