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Use model name as topics namespace in simulation

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This commit is contained in:
Oleg Kalachev
2023-12-15 10:03:07 +03:00
parent a9bcec2fa5
commit 415f0e9ad5
1 changed files with 6 additions and 5 deletions
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11
gazebo/flix.cpp
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@@ -205,11 +205,12 @@ public:
void initNode() {
nodeHandle = transport::NodePtr(new transport::Node());
nodeHandle->Init(); // TODO: namespace
motorPub[0] = nodeHandle->Advertise<msgs::Int>("~/motor0");
motorPub[1] = nodeHandle->Advertise<msgs::Int>("~/motor1");
motorPub[2] = nodeHandle->Advertise<msgs::Int>("~/motor2");
motorPub[3] = nodeHandle->Advertise<msgs::Int>("~/motor3");
nodeHandle->Init();
string ns = "~/" + model->GetName();
motorPub[0] = nodeHandle->Advertise<msgs::Int>(ns + "/motor0");
motorPub[1] = nodeHandle->Advertise<msgs::Int>(ns + "/motor1");
motorPub[2] = nodeHandle->Advertise<msgs::Int>(ns + "/motor2");
motorPub[3] = nodeHandle->Advertise<msgs::Int>(ns + "/motor3");
}
void publishTopics() {