From e9101b49cd0bde9d6cd392ccbb0c8c4d251f3e28 Mon Sep 17 00:00:00 2001 From: Tully Foote Date: Tue, 30 Apr 2019 18:13:16 -0700 Subject: [PATCH] Add rcl_node_get_fully_qualified_name (ros2/rcl#255) (#712) Signed-off-by: RARvolt --- .../src/rclcpp/node_interfaces/node_parameters.cpp | 13 +------------ 1 file changed, 1 insertion(+), 12 deletions(-) diff --git a/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp b/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp index 6a38d63..ea5e070 100644 --- a/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp +++ b/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp @@ -121,18 +121,7 @@ NodeParameters::NodeParameters( get_yaml_paths(&(options->arguments)); // Get fully qualified node name post-remapping to use to find node's params in yaml files - const std::string node_name = node_base->get_name(); - const std::string node_namespace = node_base->get_namespace(); - if (0u == node_namespace.size() || 0u == node_name.size()) { - // Should never happen - throw std::runtime_error("Node name and namespace were not set"); - } - - if ('/' == node_namespace.at(node_namespace.size() - 1)) { - combined_name_ = node_namespace + node_name; - } else { - combined_name_ = node_namespace + '/' + node_name; - } + combined_name_ = node_base->get_fully_qualified_name(); // TODO(sloretz) use rcl to parse yaml when circular dependency is solved // See https://github.com/ros2/rcl/issues/252