Namespacing
If you have something like:
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class FiveCardStudPlayer : public rclcpp::Node {
public:
FiveCardStudPlayer() : Node("five_card_stud_player"){
...
}}
And you launch 2 instances of five_card_stud_player, ROS2 Humble won’t crash the nodes. Instead, it will have two nodes with the colliding names
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/five_card_stud_dealer
/five_card_stud_player
/five_card_stud_player ← collision!
You can address this issue by using NodeOptions
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class MyNode : public rclcpp::Node {
public:
MyNode(const rclcpp::NodeOptions & opts)
: Node("my_node", opts)
{ /* … */ }
};
int main(int argc, char ** argv)
{
rclcpp::init(argc, argv);
auto args = rclcpp::remove_ros_arguments(argc, argv);
rclcpp::NodeOptions opts;
opts.arguments(args);
auto node = std::make_shared<MyNode>(opts);
rclcpp::spin(node);
rclcpp::shutdown();
return 0;
}
std::make_shared<rclcpp::Node>(DEFAULT_NAME, opts)will automatically change the name of the nodenode->get_name()will reflect the change- Then you can call it with
ros2 run card_deck_game five_card_stud_player --ros-args --remap __node:=<unique_name>
