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[backport humble] Node namespace parameter #963

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merged 1 commit into from
Apr 23, 2024
Merged

[backport humble] Node namespace parameter #963

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12 changes: 11 additions & 1 deletion image_proc/launch/image_proc.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -41,16 +41,24 @@


def generate_launch_description():

arg_namespace = DeclareLaunchArgument(
name='namespace', default_value='',
description=('namespace for all components loaded')
)

composable_nodes = [
ComposableNode(
package='image_proc',
plugin='image_proc::DebayerNode',
name='debayer_node',
namespace=LaunchConfiguration('namespace'),
),
ComposableNode(
package='image_proc',
plugin='image_proc::RectifyNode',
name='rectify_mono_node',
namespace=LaunchConfiguration('namespace'),
# Remap subscribers and publishers
remappings=[
('image', 'image_mono'),
Expand All @@ -62,6 +70,7 @@ def generate_launch_description():
package='image_proc',
plugin='image_proc::RectifyNode',
name='rectify_color_node',
namespace=LaunchConfiguration('namespace'),
# Remap subscribers and publishers
remappings=[
('image', 'image_color'),
Expand All @@ -82,7 +91,7 @@ def generate_launch_description():
image_processing_container = ComposableNodeContainer(
condition=LaunchConfigurationEquals('container', ''),
name='image_proc_container',
namespace='',
namespace=LaunchConfiguration('namespace'),
package='rclcpp_components',
executable='component_container',
composable_node_descriptions=composable_nodes,
Expand All @@ -98,6 +107,7 @@ def generate_launch_description():
)

return LaunchDescription([
arg_namespace,
arg_container,
image_processing_container,
load_composable_nodes,
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