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bt_navigator_***_rclcpp_node - Allow remapping #5242

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#5310
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bt_navigator_***_rclcpp_node - Allow remapping#5242
#5310
@roncapat

Description

@roncapat
roncapat
opened on Jun 6, 2025

Feature request

Allow to remap the node name (currently generated as /bt_navigator_ + navigator_name + _rclcpp_node) as something else, or at least move it in an arbitrary namespace.

Currently,

navigation2/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

Lines 140 to 148 in 7f561b0

auto options = rclcpp::NodeOptions().arguments(
{"--ros-args",
"-r",
std::string("__node:=") +
std::string(node->get_name()) + "_" + client_node_name + "_rclcpp_node",
"-p",
"use_sim_time:=" +
std::string(node->get_parameter("use_sim_time").as_bool() ? "true" : "false"),
"--"});

since NodeOptions are built from scratch, I belive there is not enough flexibility in configuring that node IMHO.

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