Add optional namespace to /set_camera_info service in CameraInfoManager (#324)

Author: jasiex01

camera_info_manager/include/camera_info_manager/camera_info_manager.hpp

@@ -155,6 +155,13 @@ using SetCameraInfo = sensor_msgs::srv::SetCameraInfo;
     will be stored there, missing parent directories being created if
     necessary and possible.
 
+    @par Namespace
+
+    The CameraInfoManager constructor takes an optional namespace
+    argument, which is used to set the ROS namespace for the
+    set_camera_info service. If not provided, the namespace defaults
+    to the private namespace of the node (i.e., "~/set_camera_info").
+
     @par Loading Calibration Data
 
     Prior to Fuerte, calibration information was loaded in the
@@ -178,21 +185,24 @@ class CameraInfoManager
   CameraInfoManager(
     rclcpp::Node * node,
     const std::string & cname = "camera",
-    const std::string & url = "");
+    const std::string & url = "",
+    const std::string & ns = "~");
 
   CAMERA_INFO_MANAGER_PUBLIC
   CameraInfoManager(
     rclcpp_lifecycle::LifecycleNode * node,
     const std::string & cname = "camera",
-    const std::string & url = "");
+    const std::string & url = "",
+    const std::string & ns = "~");
 
   CAMERA_INFO_MANAGER_PUBLIC
   CameraInfoManager(
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
     rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
     rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logger_interface,
     const std::string & cname = "camera", const std::string & url = "",
-    rmw_qos_profile_t custom_qos = rmw_qos_profile_default);
+    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
+    const std::string & ns = "~");
 
   CAMERA_INFO_MANAGER_PUBLIC
   CameraInfo getCameraInfo(void);
@@ -272,6 +282,7 @@ class CameraInfoManager
   rclcpp::Logger logger_;               ///< logger
   std::string camera_name_;             ///< camera name
   std::string url_;                     ///< URL for calibration data
+  std::string namespace_;               ///< ROS namespace set_camera_info service
   CameraInfo cam_info_;    ///< current CameraInfo
   bool loaded_cam_info_;                ///< cam_info_ load attempted
 };  // class CameraInfoManager

camera_info_manager/src/camera_info_manager.cpp

@@ -69,38 +69,45 @@ const std::string
  *           subordinate names, like "left/camera" and "right/camera".
  * @param cname default camera name
  * @param url default Uniform Resource Locator for loading and saving data.
+ * @param ns namespace for the set_camera_info service. If not specified,
+ *           the service name will be "~/set_camera_info".
  */
 CameraInfoManager::CameraInfoManager(
   rclcpp::Node * node, const std::string & cname,
-  const std::string & url)
+  const std::string & url, const std::string & ns)
 : CameraInfoManager(node->get_node_base_interface(),
-    node->get_node_services_interface(), node->get_node_logging_interface(), cname, url)
+    node->get_node_services_interface(), node->get_node_logging_interface(), cname, url,
+    rmw_qos_profile_default, ns)
 {
 }
 
 CameraInfoManager::CameraInfoManager(
   rclcpp_lifecycle::LifecycleNode * node,
-  const std::string & cname, const std::string & url)
+  const std::string & cname, const std::string & url,
+  const std::string & ns)
 : CameraInfoManager(node->get_node_base_interface(),
-    node->get_node_services_interface(), node->get_node_logging_interface(), cname, url)
+    node->get_node_services_interface(), node->get_node_logging_interface(), cname, url,
+    rmw_qos_profile_default, ns)
 {
 }
 
 CameraInfoManager::CameraInfoManager(
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface,
   rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_interface,
   rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logger_interface,
-  const std::string & cname, const std::string & url, rmw_qos_profile_t custom_qos)
+  const std::string & cname, const std::string & url,
+  rmw_qos_profile_t custom_qos, const std::string & ns)
 : logger_(node_logger_interface->get_logger()),
   camera_name_(cname),
   url_(url),
+  namespace_(ns),
   loaded_cam_info_(false)
 {
   using namespace std::placeholders;
 
   // register callback for camera calibration service request
   info_service_ = rclcpp::create_service<SetCameraInfo>(
-    node_base_interface, node_services_interface, "~/set_camera_info",
+    node_base_interface, node_services_interface, namespace_ + "/set_camera_info",
     std::bind(&CameraInfoManager::setCameraInfoService, this, _1, _2), custom_qos, nullptr);
 }