This repository was archived by the owner on May 31, 2025. It is now read-only.
roscpp: Fixed remapping of private parameters in anonymous nodes#2325
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peci1 wants to merge 1 commit intoros:noetic-develfrom
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roscpp: Fixed remapping of private parameters in anonymous nodes#2325peci1 wants to merge 1 commit intoros:noetic-develfrom
peci1 wants to merge 1 commit intoros:noetic-develfrom
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Thank you for the PR! ROS Noetic will reach end-of-life on May 31st, 2025. Every change comes with a risk of introducing regressions, and there isn't much time left to fix them. To make sure this PR doesn't introduce any regressions please:
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This PR comes with a rostest that tests the described behavior. |
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ROS 1 is end-of-life (EOL) as of today, May 31st 2025. I am archiving this repository because:
If you still rely on ROS 1, read this page to learn about your options. |
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Fixes #2324.
This fix runs all private name remaps through another round of remapping after the anonymous node name is finished. The first remapping round is done with incomplete node name, which resulted in inability to remap private names for anonymous nodes without
__name:=arg.The new behavior corresponds to what rospy is doing.
The impact on existing code should be close to zero. Anything launched from a launch file will not be affected. The only affected usages are manual
rosruncommands (and if somebody does some crazy things aroundros::init()).I did not find a good way to remove the wrong remappings, so they remain there. I.e.
g_remappingswill contain both/node/topic->newtopicand/node_12321321/topic->newtopic. This isn't correct, but it could actually serve as a backwards compatibility feature for the case if someone was working around #2324 by explicitly remapping the incomplete name.Real-world tools affected by #2324 can be found e.g. here: http://docs.ros.org/en/latest/api/cras_topic_tools/html/classcras_1_1ThrottleMessagesNodelet.html#details . It is an improved version of
topic_tools throttlewhich, if no topic args are given through CLI, subscribes to~inputtopic. When running asrosrun cras_topic_tools throttle ~input:=/remapped, the remap does not happen without this PR. Appending__name:=foomakes the remap happy, which is confusing.