Apply remappings to base topic before creating transport-specific topics (#326)

Author: bjsowa

image_transport/src/camera_publisher.cpp

@@ -32,7 +32,6 @@
 #include <string>
 #include <utility>
 
-#include "rclcpp/expand_topic_or_service_name.hpp"
 #include "rclcpp/logging.hpp"
 #include "rclcpp/node.hpp"
 
@@ -84,9 +83,7 @@ CameraPublisher::CameraPublisher(
 {
   // Explicitly resolve name here so we compute the correct CameraInfo topic when the
   // image topic is remapped (#4539).
-  std::string image_topic = rclcpp::expand_topic_or_service_name(
-    base_topic,
-    node->get_name(), node->get_namespace());
+  std::string image_topic = node->get_node_topics_interface()->resolve_topic_name(base_topic);
   std::string info_topic = getCameraInfoTopic(image_topic);
 
   auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos);

image_transport/src/camera_subscriber.cpp

@@ -116,9 +116,7 @@ CameraSubscriber::CameraSubscriber(
 {
   // Must explicitly remap the image topic since we then do some string manipulation on it
   // to figure out the sibling camera_info topic.
-  std::string image_topic = rclcpp::expand_topic_or_service_name(
-    base_topic,
-    node->get_name(), node->get_namespace());
+  std::string image_topic = node->get_node_topics_interface()->resolve_topic_name(base_topic);
   std::string info_topic = getCameraInfoTopic(image_topic);
 
   impl_->image_sub_.subscribe(node, image_topic, transport, custom_qos);

image_transport/src/publisher.cpp

@@ -35,7 +35,6 @@
 #include <utility>
 #include <vector>
 
-#include "rclcpp/expand_topic_or_service_name.hpp"
 #include "rclcpp/logging.hpp"
 #include "rclcpp/node.hpp"
 
@@ -105,9 +104,7 @@ Publisher::Publisher(
 {
   // Resolve the name explicitly because otherwise the compressed topics don't remap
   // properly (#3652).
-  std::string image_topic = rclcpp::expand_topic_or_service_name(
-    base_topic,
-    node->get_name(), node->get_namespace());
+  std::string image_topic = node->get_node_topics_interface()->resolve_topic_name(base_topic);
   impl_->base_topic_ = image_topic;
   impl_->loader_ = loader;
 

image_transport/src/republish.cpp

@@ -61,13 +61,6 @@ Republisher::Republisher(const rclcpp::NodeOptions & options)
 
 void Republisher::initialize()
 {
-  std::string in_topic = rclcpp::expand_topic_or_service_name(
-    "in",
-    this->get_name(), this->get_namespace());
-  std::string out_topic = rclcpp::expand_topic_or_service_name(
-    "out",
-    this->get_name(), this->get_namespace());
-
   std::string in_transport = "raw";
   this->declare_parameter<std::string>("in_transport", in_transport);
   if (!this->get_parameter(
@@ -117,14 +110,14 @@ void Republisher::initialize()
     PublishMemFn pub_mem_fn = &image_transport::Publisher::publish;
 
     pub_options.event_callbacks.matched_callback =
-      [this, in_topic, in_transport, pub_mem_fn, sub_options](rclcpp::MatchedInfo &)
+      [this, in_transport, pub_mem_fn, sub_options](rclcpp::MatchedInfo &)
       {
         std::scoped_lock<std::mutex> lock(this->pub_matched_mutex);
         if (this->pub.getNumSubscribers() == 0) {
           this->sub.shutdown();
         } else if (!this->sub) {
           this->sub = image_transport::create_subscription(
-            this, in_topic,
+            this, "in",
             std::bind(pub_mem_fn, &this->pub, std::placeholders::_1),
             in_transport,
             rmw_qos_profile_default,
@@ -133,7 +126,7 @@ void Republisher::initialize()
       };
 
     this->pub = image_transport::create_publisher(
-      this, out_topic,
+      this, "out",
       rmw_qos_profile_default, pub_options);
   } else {
     // Use one specific transport for output
@@ -151,21 +144,21 @@ void Republisher::initialize()
     this->instance = loader->createUniqueInstance(lookup_name);
 
     pub_options.event_callbacks.matched_callback =
-      [this, in_topic, in_transport, pub_mem_fn, sub_options](rclcpp::MatchedInfo & matched_info)
+      [this, in_transport, pub_mem_fn, sub_options](rclcpp::MatchedInfo & matched_info)
       {
         if (matched_info.current_count == 0) {
           this->sub.shutdown();
         } else if (!this->sub) {
           this->sub = image_transport::create_subscription(
-            this, in_topic,
+            this, "in",
             std::bind(
               pub_mem_fn,
               this->instance.get(), std::placeholders::_1), in_transport, rmw_qos_profile_default,
             sub_options);
         }
       };
 
-    this->instance->advertise(this, out_topic, rmw_qos_profile_default, pub_options);
+    this->instance->advertise(this, "out", rmw_qos_profile_default, pub_options);
   }
 }
 

image_transport/src/subscriber.cpp

@@ -32,7 +32,6 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/expand_topic_or_service_name.hpp"
 #include "rclcpp/logging.hpp"
 
 #include "sensor_msgs/msg/image.hpp"
@@ -99,18 +98,17 @@ Subscriber::Subscriber(
     throw TransportLoadException(impl_->lookup_name_, e.what());
   }
 
+  std::string image_topic = node->get_node_topics_interface()->resolve_topic_name(base_topic);
+
   // Try to catch if user passed in a transport-specific topic as base_topic.
-  // TODO(ros2) use rclcpp to clean
-  // std::string clean_topic = ros::names::clean(base_topic);
-  std::string clean_topic = base_topic;
 
-  size_t found = clean_topic.rfind('/');
+  size_t found = image_topic.rfind('/');
   if (found != std::string::npos) {
-    std::string transport = clean_topic.substr(found + 1);
+    std::string transport = image_topic.substr(found + 1);
     std::string plugin_name = SubscriberPlugin::getLookupName(transport);
     std::vector<std::string> plugins = loader->getDeclaredClasses();
     if (std::find(plugins.begin(), plugins.end(), plugin_name) != plugins.end()) {
-      std::string real_base_topic = clean_topic.substr(0, found);
+      std::string real_base_topic = image_topic.substr(0, found);
 
       RCLCPP_WARN(
         impl_->logger_,
@@ -119,13 +117,13 @@ Subscriber::Subscriber(
         "error. Try subscribing to the base topic '%s' instead with parameter ~image_transport "
         "set to '%s' (on the command line, _image_transport:=%s). "
         "See http://ros.org/wiki/image_transport for details.",
-        clean_topic.c_str(), real_base_topic.c_str(), transport.c_str(), transport.c_str());
+        image_topic.c_str(), real_base_topic.c_str(), transport.c_str(), transport.c_str());
     }
   }
 
   // Tell plugin to subscribe.
-  RCLCPP_DEBUG(impl_->logger_, "Subscribing to: %s\n", base_topic.c_str());
-  impl_->subscriber_->subscribe(node, base_topic, callback, custom_qos, options);
+  RCLCPP_DEBUG(impl_->logger_, "Subscribing to: %s\n", image_topic.c_str());
+  impl_->subscriber_->subscribe(node, image_topic, callback, custom_qos, options);
 }
 
 std::string Subscriber::getTopic() const