expose node namespace in API and pass to rcl (#316)

* expose node namespace in API and pass to rcl

* name_space -> namespace_

rclcpp/include/rclcpp/node.hpp

@@ -67,22 +67,29 @@ public:
   /// Create a new node with the specified name.
   /**
    * \param[in] node_name Name of the node.
+   * \param[in] namespace_ Namespace of the node.
    * \param[in] use_intra_process_comms True to use the optimized intra-process communication
    * pipeline to pass messages between nodes in the same process using shared memory.
    */
   RCLCPP_PUBLIC
-  explicit Node(const std::string & node_name, bool use_intra_process_comms = false);
+  explicit Node(
+    const std::string & node_name,
+    const std::string & namespace_ = "",
+    bool use_intra_process_comms = false);
 
   /// Create a node based on the node name and a rclcpp::context::Context.
   /**
    * \param[in] node_name Name of the node.
+   * \param[in] namespace_ Namespace of the node.
    * \param[in] context The context for the node (usually represents the state of a process).
    * \param[in] use_intra_process_comms True to use the optimized intra-process communication
    * pipeline to pass messages between nodes in the same process using shared memory.
    */
   RCLCPP_PUBLIC
   Node(
-    const std::string & node_name, rclcpp::context::Context::SharedPtr context,
+    const std::string & node_name,
+    const std::string & namespace_,
+    rclcpp::context::Context::SharedPtr context,
     bool use_intra_process_comms = false);
 
   RCLCPP_PUBLIC

rclcpp/include/rclcpp/node_interfaces/node_base.hpp

@@ -36,7 +36,10 @@ public:
   RCLCPP_SMART_PTR_ALIASES_ONLY(NodeBaseInterface)
 
   RCLCPP_PUBLIC
-  NodeBase(const std::string & node_name, rclcpp::context::Context::SharedPtr context);
+  NodeBase(
+    const std::string & node_name,
+    const std::string & namespace_,
+    rclcpp::context::Context::SharedPtr context);
 
   RCLCPP_PUBLIC
   virtual

rclcpp/src/rclcpp/node.cpp

@@ -33,18 +33,23 @@
 using rclcpp::node::Node;
 using rclcpp::exceptions::throw_from_rcl_error;
 
-Node::Node(const std::string & node_name, bool use_intra_process_comms)
+Node::Node(
+  const std::string & node_name,
+  const std::string & namespace_,
+  bool use_intra_process_comms)
 : Node(
     node_name,
+    namespace_,
     rclcpp::contexts::default_context::get_global_default_context(),
     use_intra_process_comms)
 {}
 
 Node::Node(
   const std::string & node_name,
+  const std::string & namespace_,
   rclcpp::context::Context::SharedPtr context,
   bool use_intra_process_comms)
-: node_base_(new rclcpp::node_interfaces::NodeBase(node_name, context)),
+: node_base_(new rclcpp::node_interfaces::NodeBase(node_name, namespace_, context)),
   node_graph_(new rclcpp::node_interfaces::NodeGraph(node_base_.get())),
   node_timers_(new rclcpp::node_interfaces::NodeTimers(node_base_.get())),
   node_topics_(new rclcpp::node_interfaces::NodeTopics(node_base_.get())),

rclcpp/src/rclcpp/node_interfaces/node_base.cpp

@@ -27,6 +27,7 @@ using rclcpp::node_interfaces::NodeBase;
 
 NodeBase::NodeBase(
   const std::string & node_name,
+  const std::string & namespace_,
   rclcpp::context::Context::SharedPtr context)
 : context_(context),
   node_handle_(nullptr),
@@ -84,7 +85,7 @@ NodeBase::NodeBase(
   rcl_node_options_t options = rcl_node_get_default_options();
   // TODO(wjwwood): pass the Allocator to the options
   options.domain_id = domain_id;
-  ret = rcl_node_init(rcl_node, node_name.c_str(), &options);
+  ret = rcl_node_init(rcl_node, node_name.c_str(), namespace_.c_str(), &options);
   if (ret != RCL_RET_OK) {
     // Finalize the interrupt guard condition.
     finalize_notify_guard_condition();

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

@@ -68,22 +68,29 @@ public:
   /// Create a new lifecycle node with the specified name.
   /**
    * \param[in] node_name Name of the node.
+   * \param[in] node_name Namespace of the node.
    * \param[in] use_intra_process_comms True to use the optimized intra-process communication
    * pipeline to pass messages between nodes in the same process using shared memory.
    */
   RCLCPP_LIFECYCLE_PUBLIC
-  explicit LifecycleNode(const std::string & node_name, bool use_intra_process_comms = false);
+  explicit LifecycleNode(
+    const std::string & node_name,
+    const std::string & namespace_ = "",
+    bool use_intra_process_comms = false);
 
   /// Create a node based on the node name and a rclcpp::context::Context.
   /**
    * \param[in] node_name Name of the node.
+   * \param[in] node_name Namespace of the node.
    * \param[in] context The context for the node (usually represents the state of a process).
    * \param[in] use_intra_process_comms True to use the optimized intra-process communication
    * pipeline to pass messages between nodes in the same process using shared memory.
    */
   RCLCPP_LIFECYCLE_PUBLIC
   LifecycleNode(
-    const std::string & node_name, rclcpp::context::Context::SharedPtr context,
+    const std::string & node_name,
+    const std::string & namespace_,
+    rclcpp::context::Context::SharedPtr context,
     bool use_intra_process_comms = false);
 
   RCLCPP_LIFECYCLE_PUBLIC

rclcpp_lifecycle/src/lifecycle_node.cpp

@@ -38,18 +38,23 @@
 namespace rclcpp_lifecycle
 {
 
-LifecycleNode::LifecycleNode(const std::string & node_name, bool use_intra_process_comms)
+LifecycleNode::LifecycleNode(
+  const std::string & node_name,
+  const std::string & namespace_,
+  bool use_intra_process_comms)
 : LifecycleNode(
     node_name,
+    namespace_,
     rclcpp::contexts::default_context::get_global_default_context(),
     use_intra_process_comms)
 {}
 
 LifecycleNode::LifecycleNode(
   const std::string & node_name,
+  const std::string & namespace_,
   rclcpp::context::Context::SharedPtr context,
   bool use_intra_process_comms)
-: node_base_(new rclcpp::node_interfaces::NodeBase(node_name, context)),
+: node_base_(new rclcpp::node_interfaces::NodeBase(node_name, namespace_, context)),
   node_graph_(new rclcpp::node_interfaces::NodeGraph(node_base_.get())),
   node_timers_(new rclcpp::node_interfaces::NodeTimers(node_base_.get())),
   node_topics_(new rclcpp::node_interfaces::NodeTopics(node_base_.get())),