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add domain id to rmw_create_node

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This commit is contained in:
Dirk Thomas 2015-08-04 15:32:22 -07:00
parent 84c5edd5b7
commit 4a3167b713
1 changed files with 15 additions and 1 deletions
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16
rclcpp/include/rclcpp/node_impl.hpp
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@ -16,7 +16,9 @@
#define RCLCPP_RCLCPP_NODE_IMPL_HPP_ #define RCLCPP_RCLCPP_NODE_IMPL_HPP_
#include <algorithm> #include <algorithm>
#include <cstdlib>
#include <iostream> #include <iostream>
#include <limits>
#include <memory> #include <memory>
#include <sstream> #include <sstream>
#include <stdexcept> #include <stdexcept>
@ -46,7 +48,19 @@ Node::Node(const std::string & node_name, context::Context::SharedPtr context)
: name_(node_name), context_(context), : name_(node_name), context_(context),
number_of_subscriptions_(0), number_of_timers_(0), number_of_services_(0) number_of_subscriptions_(0), number_of_timers_(0), number_of_services_(0)
{ {
auto node = rmw_create_node(name_.c_str()); size_t domain_id = 0;
char * ros_domain_id = getenv("ROS_DOMAIN_ID");
if (ros_domain_id) {
unsigned long number = strtoul(ros_domain_id, NULL, 0);
if (number == (std::numeric_limits<unsigned long>::max)()) {
fprintf(stderr,
"Failed to interpret ROS_DOMAIN_ID '%s' as integral number\n", ros_domain_id);
} else {
domain_id = static_cast<size_t>(number);
}
}
auto node = rmw_create_node(name_.c_str(), domain_id);
if (!node) { if (!node) {
// *INDENT-OFF* // *INDENT-OFF*
throw std::runtime_error( throw std::runtime_error(