Topic names relative to node's namespace

[mzahana]

Hi @Jaeyoung-Lim

I noticed that some subscribers in geometric_controller.cpp has topics with respect to / namespace. Would it be better to keep it with respect to the node's namespace? Just like other subscribers in the same node.

[Jaeyoung-Lim]

@mzahana That is a very good point. It would make sense that we fix this properly.

The reason I was using absolute namespaces was because usually ROS topic namespaces become quite fragile depending on your launchfile. Therefore I took a easy cut to get it "always" work with mavros. However, this is clearly a hack and would not scale if we have multiple instances.

Do you have any good usecases for this? Did this aspect of the code block you in any usecase?

[mzahana]

An obvious use case is when you run multiple instances for multi-drone setup. With the current setup it fails. A straight forward fix is to keep the topics and params relative to the node's namespace. Namespaces are expected to be defined in launch files using <group ns="namepsace"> tags.