Namespace issue

[kturkovic]

Hello. I'm wondering if there is a clean way to run everything when the whole project is developed under a 'robot' namespace. This means that the names in tf tree are prepended with 'robot' (ex. 'robot/color', 'robot/depth', ...) and so topics should be prepended as well (ex. 'robot/r200...') I don't see any way to do this "cleanly" with this package. Topics can be prepended by changing: plugin name="${prefix}r200" filename="librealsense_gazebo_plugin.so" to: plugin name="robot/${prefix}r200" filename="librealsense_gazebo_plugin.so"

Header frame_ids should be prepended as well by changing: prefix>${prefix}</prefix to: prefix>robot/${prefix}</prefix, but this seems to cause a segmentation fault and isn't really semantically correct.

So my question is: Is there a way to add namespaces to topic publishing?