From 415f0e9ad5be9b1a8e07a44523892fe8cc4cb33a Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 15 Dec 2023 10:03:07 +0300
Subject: [PATCH] Use model name as topics namespace in simulation

---
 gazebo/flix.cpp | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/gazebo/flix.cpp b/gazebo/flix.cpp
index c610704..acb27ff 100644
--- a/gazebo/flix.cpp
+++ b/gazebo/flix.cpp
@@ -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() {