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fix(bot_state_machine): use namespace-relative lifecycle client names #13

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fix(bot_state_machine): use namespace-relative lifecycle client names #13

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6 changes: 3 additions & 3 deletions botbrain_ws/src/bot_state_machine/src/lifecycle_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -244,7 +244,7 @@ void LifecycleManager::create_comms()

// Watch lifecycle transition events for this node.
auto sub = this->create_subscription<lifecycle_msgs::msg::TransitionEvent>(
"/" + n.name + "/transition_event",
n.name + "/transition_event",
rclcpp::SystemDefaultsQoS(),
[this, node_name = n.name](const lifecycle_msgs::msg::TransitionEvent::SharedPtr msg) {
this->transition_callback(node_name, msg);
Expand All @@ -255,13 +255,13 @@ void LifecycleManager::create_comms()

// Service clients used to push lifecycle commands and query status.
auto change_cli = this->create_client<lifecycle_msgs::srv::ChangeState>
("/" + n.name + "/change_state",
(n.name + "/change_state",
rmw_qos_profile_services_default,
cbg_);
change_state_srvs_.emplace(n.name, change_cli);

auto get_cli = this->create_client<lifecycle_msgs::srv::GetState>
("/" + n.name + "/get_state",
(n.name + "/get_state",
rmw_qos_profile_services_default,
cbg_);
get_state_srvs_.emplace(n.name, get_cli);
Expand Down