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Added support for custom parameter bridge node names #402

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Added support for custom parameter bridge node names #402

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19 changes: 15 additions & 4 deletions src/parameter_bridge.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,14 +33,25 @@

int main(int argc, char * argv[])
{
// ROS 1 node
ros::init(argc, argv, "ros_bridge");
ros::NodeHandle ros1_node;

// ROS 2 node
rclcpp::init(argc, argv);
auto ros2_node = rclcpp::Node::make_shared("ros_bridge");


if (argc == 4) {
std::string argv_s = argv[argc-1];

std::string delimiter = "__node:=";
argv_s.erase(0, delimiter.length());
argv_s.insert(0, "__name:=");
strcpy(argv[0], argv_s.c_str());
argc = 1;
}

// ROS 1 node
ros::init(argc, argv, "ros_bridge");
ros::NodeHandle ros1_node;

std::list<ros1_bridge::BridgeHandles> all_handles;
std::list<ros1_bridge::ServiceBridge1to2> service_bridges_1_to_2;
std::list<ros1_bridge::ServiceBridge2to1> service_bridges_2_to_1;
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