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bt_navigator_***_rclcpp_node - Namespacing + NodeOptions forwarding #5310

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bt_navigator_***_rclcpp_node - Namespacing + NodeOptions forwarding #5310

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20fcb32
`bt_navigator_***_rclcpp_node` - Namespacing + NodeOptions forwarding
roncapat Jun 27, 2025
0cdd21e
Deduplicate `replaceOrAddArgument` implementation
roncapat Jun 28, 2025
e69f29d
Fix
roncapat Jun 28, 2025
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15 changes: 6 additions & 9 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -137,15 +137,12 @@ bool BtActionServer<ActionT, NodeT>::on_configure()
std::string client_node_name = action_name_;
std::replace(client_node_name.begin(), client_node_name.end(), '/', '_');
// Use suffix '_rclcpp_node' to keep parameter file consistency #1773
auto options = rclcpp::NodeOptions().arguments(
{"--ros-args",
"-r",
std::string("__node:=") +
std::string(node->get_name()) + "_" + client_node_name + "_rclcpp_node",
"-p",
"use_sim_time:=" +
std::string(node->get_parameter("use_sim_time").as_bool() ? "true" : "false"),
"--"});

auto new_arguments = node->get_node_options().arguments();
nav2::replaceOrAddArgument(new_arguments, "-r", "__node", std::string("__node:=") +
std::string(node->get_name()) + "_" + client_node_name + "_rclcpp_node");
auto options = node->get_node_options();
options = options.arguments(new_arguments);
Comment on lines +141 to +145
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Copilot AI Jul 1, 2025

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[nitpick] You could combine fetching and updating NodeOptions into a single expression (e.g., auto options = node->get_node_options().arguments(new_arguments);) to reduce variable shadowing and improve clarity.

Suggested change
auto new_arguments = node->get_node_options().arguments();
nav2::replaceOrAddArgument(new_arguments, "-r", "__node", std::string("__node:=") +
std::string(node->get_name()) + "_" + client_node_name + "_rclcpp_node");
auto options = node->get_node_options();
options = options.arguments(new_arguments);
auto options = node->get_node_options().arguments(
nav2::replaceOrAddArgument(
node->get_node_options().arguments(), "-r", "__node", std::string("__node:=") +
std::string(node->get_name()) + "_" + client_node_name + "_rclcpp_node"));

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// Support for handling the topic-based goal pose from rviz
client_node_ = std::make_shared<nav2::LifecycleNode>("_", options);
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9 changes: 0 additions & 9 deletions nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -432,15 +432,6 @@ class Costmap2DROS : public nav2::LifecycleNode

// free functions

/**
* @brief Given a specified argument name, replaces it with the specified
* new value. If the argument is not in the existing list, a new argument
* is created with the specified option.
*/
void replaceOrAddArgument(
std::vector<std::string> & arguments, const std::string & option,
const std::string & arg_name, const std::string & new_argument);

/**
* @brief Given the node options of a parent node, expands of replaces
* the fields for the node name, namespace and use_sim_time
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21 changes: 3 additions & 18 deletions nav2_costmap_2d/src/costmap_2d_ros.cpp
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Expand Up @@ -71,32 +71,17 @@ Costmap2DROS::Costmap2DROS(const rclcpp::NodeOptions & options)
init();
}

void replaceOrAddArgument(
std::vector<std::string> & arguments, const std::string & option,
const std::string & arg_name, const std::string & new_argument)
{
auto argument = std::find_if(arguments.begin(), arguments.end(),
[arg_name](const std::string & value){return value.find(arg_name) != std::string::npos;});
if (argument != arguments.end()) {
*argument = new_argument;
} else {
arguments.push_back("--ros-args");
arguments.push_back(option);
arguments.push_back(new_argument);
}
}

rclcpp::NodeOptions getChildNodeOptions(
const std::string & name,
const std::string & parent_namespace,
const bool & use_sim_time,
const rclcpp::NodeOptions & parent_options)
{
std::vector<std::string> new_arguments = parent_options.arguments();
replaceOrAddArgument(new_arguments, "-r", "__ns",
nav2::replaceOrAddArgument(new_arguments, "-r", "__ns",
"__ns:=" + nav2::add_namespaces(parent_namespace, name));
replaceOrAddArgument(new_arguments, "-r", "__node", name + ":" + "__node:=" + name);
replaceOrAddArgument(new_arguments, "-p", "use_sim_time",
nav2::replaceOrAddArgument(new_arguments, "-r", "__node", name + ":" + "__node:=" + name);
nav2::replaceOrAddArgument(new_arguments, "-p", "use_sim_time",
"use_sim_time:=" + std::string(use_sim_time ? "true" : "false"));
return rclcpp::NodeOptions().arguments(new_arguments);
}
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20 changes: 20 additions & 0 deletions nav2_ros_common/include/nav2_ros_common/node_utils.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -378,6 +378,26 @@ inline void setIntrospectionMode(
#endif
}

/**
* @brief Given a specified argument name, replaces it with the specified
* new value. If the argument is not in the existing list, a new argument
* is created with the specified option.
*/
inline void replaceOrAddArgument(
std::vector<std::string> & arguments, const std::string & option,
const std::string & arg_name, const std::string & new_argument)
{
auto argument = std::find_if(arguments.begin(), arguments.end(),
[arg_name](const std::string & value){return value.find(arg_name) != std::string::npos;});
if (argument != arguments.end()) {
*argument = new_argument;
} else {
arguments.push_back("--ros-args");
arguments.push_back(option);
arguments.push_back(new_argument);
}
}

} // namespace nav2

#endif // NAV2_ROS_COMMON__NODE_UTILS_HPP_
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