Isolate TfBuffer internal node from global __node remap#51
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The TfBuffer TF listener node was created with default NodeOptions (use_global_arguments == true) and a fixed name "_tf_listener". When a component container is launched with a global node-name remap, e.g. --ros-args -r __node:=my_container every TfBuffer-created listener inherited that remap and was renamed to the container's name. With one listener per TfBuffer-using component this caused duplicate node names and "Publisher already registered for node name" rosout warnings. Give the internal node use_global_arguments(false) so it ignores the CLI __node remap, and derive its name from the host node (<host>_tf_listener) so concurrent listeners don't collide. Add a regression test that launches with a global __node remap and asserts, via the node graph, that the internal node is uniquely named after the host and does not adopt the remapped name.
Contributor
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Just curious, why is there an extra node for tf lookups? Typically I would find this an anti-pattern. |
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You're right. |
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The TfBuffer TF listener node was created with default NodeOptions (use_global_arguments == true) and a fixed name "_tf_listener". When a component container is launched with a global node-name remap, e.g.
--ros-args -r __node:=my_container
every TfBuffer-created listener inherited that remap and was renamed to the container's name. With one listener per TfBuffer-using component this caused duplicate node names and "Publisher already registered for node name" rosout warnings.
Give the internal node use_global_arguments(false) so it ignores the CLI __node remap, and derive its name from the host node (_tf_listener) so concurrent listeners don't collide.
Add a regression test that launches with a global __node remap and asserts, via the node graph, that the internal node is uniquely named after the host and does not adopt the remapped name.