Currently debug_info is published into the (parent) node's private workspace. If the whole node is pushed into a namespace (e.g. from a launch file), there will be unnecessary namespace duplication. The rationale for this design is that debug_info from several nodes using timestamp synchronizer would get published into the same topic. However, if we add a "sensor id" to the TimesyncDebug message, publishing everything to one topic will actually be desired behavior. In short, two changs are necessary:
add sensor_id to TimesyncDebug (figure out what this id should be; should it be the node name? not sure if that's a good idea coz it seems to be mixing topics together; a better idea might be to use frame_id as sensor_id!)
publish debug_info to the parent's public node handle
@ojura we might still need to discuss a bit if this is a good idea or not
Currently debug_info is published into the (parent) node's private workspace. If the whole node is pushed into a namespace (e.g. from a launch file), there will be unnecessary namespace duplication. The rationale for this design is that debug_info from several nodes using timestamp synchronizer would get published into the same topic. However, if we add a "sensor id" to the TimesyncDebug message, publishing everything to one topic will actually be desired behavior. In short, two changs are necessary:
@ojura we might still need to discuss a bit if this is a good idea or not