Remap two nodes of one executable file with same node name in different namespaces #806
Description
Bug report
Required Info:
- Operating System:
- Ubuntu 20.04
- Installation type:
- source
- Version or commit hash:
- DDS implementation:
- Fast-RTPS
- Client library (if applicable):
- rclcpp
Steps to reproduce issue
$ ros2 run examples_rclcpp_minimal_composition composition_composed \
--ros-args \
-r publisher_node:__node:=aaa \
-r aaa:__ns:=/ns1 \ // Must use aaa because of current `Order of Applying Remapping Rules`
-r subscriber_node:__node:=aaa \
-r aaa:__ns:=/ns2 // bad
Expected behavior
$ ros2 run examples_rclcpp_minimal_composition composition_composed \
--ros-args \
-r publisher_node:__ns:=/ns1 \
-r publisher_node:__node:=aaa \
-r subscriber_node:__ns:=/ns2 \
-r subscriber_node:__node:=aaa
$ ros2 node list
/ns1/aaa
/ns2/aaa
Actual behavior
$ ros2 node list
/ns1/aaa
/ns1/aaa
Additional information
Remapping rules are applied in the following order:
-
- Node name remapping
-
- Namespace remapping // Should namespace remapping be the first one?
-
- All other rules