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Namespace infrastructure plugins #94

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Namespace infrastructure plugins #94

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6fd66f9
Namespace lift topics
luca-della-vedova Oct 11, 2022
43d8571
Namespace doors
luca-della-vedova Oct 12, 2022
98cb417
Merge branch 'main' into luca/namespace_lifts
luca-della-vedova Nov 23, 2022
7913353
Force infrastructure plugins to be namespaced
luca-della-vedova Dec 8, 2022
19c4f84
Remove extra /
luca-della-vedova Dec 8, 2022
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4 changes: 2 additions & 2 deletions rmf_building_sim_common/src/door_common.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -72,10 +72,10 @@ DoorCommon::DoorCommon(const std::string& door_name,
_request.requested_mode.value = DoorMode::MODE_CLOSED;

_door_state_pub = _ros_node->create_publisher<DoorState>(
"/door_states", rclcpp::SystemDefaultsQoS());
"sim/door_states", rclcpp::SystemDefaultsQoS());

_door_request_sub = _ros_node->create_subscription<DoorRequest>(
"/door_requests", rclcpp::SystemDefaultsQoS(),
"sim/door_requests", rclcpp::SystemDefaultsQoS(),
[&](DoorRequest::UniquePtr msg)
{
if (msg->door_name == _state.door_name)
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7 changes: 4 additions & 3 deletions rmf_building_sim_common/src/lift_common.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -204,13 +204,14 @@ LiftCommon::LiftCommon(rclcpp::Node::SharedPtr node,

// initialize pub & sub
_lift_state_pub = _ros_node->create_publisher<LiftState>(
"/lift_states", rclcpp::SystemDefaultsQoS());
"sim/lift_states", rclcpp::SystemDefaultsQoS());

// TODO(luca) remove adapter door request and make lift command its own doors
_door_request_pub = _ros_node->create_publisher<DoorRequest>(
"/adapter_door_requests", rclcpp::SystemDefaultsQoS());
"adapter_door_requests", rclcpp::SystemDefaultsQoS());

_lift_request_sub = _ros_node->create_subscription<LiftRequest>(
"/lift_requests", rclcpp::SystemDefaultsQoS(),
"sim/lift_requests", rclcpp::SystemDefaultsQoS(),
[&](LiftRequest::UniquePtr msg)
{
if (msg->lift_name != _lift_name)
Expand Down