Better handling of node_name in ros1 client

roslibrust/examples/ros1_service_client.rs

@@ -11,10 +11,7 @@ async fn main() -> Result<(), anyhow::Error> {
         .init()
         .unwrap();
 
-    // TODO: for some reason the preceding slash is required for service client (on ros1 native)
-    // but not for publishers/subscribers
-    // Not sure exactly why it got built that way and we we should clean it up
-    let nh = NodeHandle::new("http://localhost:11311", "/service_client_rs").await?;
+    let nh = NodeHandle::new("http://localhost:11311", "service_client_rs").await?;
     log::info!("Connected!");
 
     let response: rosapi::GetTimeResponse = nh
@@ -23,6 +20,8 @@ async fn main() -> Result<(), anyhow::Error> {
         .call(&rosapi::GetTimeRequest {})
         .await?;
 
+    tokio::time::sleep(tokio::time::Duration::from_secs(1)).await;
+
     log::info!("Got time: {:?}", response);
 
     Ok(())

roslibrust/src/ros1/names.rs

@@ -1,6 +1,7 @@
 use std::fmt::Display;
 
 lazy_static::lazy_static! {
+    // See: https://wiki.ros.org/Names
     static ref GRAPH_NAME_REGEX: regex::Regex = regex::Regex::new(r"^([/~a-zA-Z]){1}([a-zA-Z0-9_/])*([A-z0-9_])$").unwrap();
 }
 

roslibrust/src/ros1/node/handle.rs

@@ -16,11 +16,22 @@ pub struct NodeHandle {
 
 impl NodeHandle {
     // TODO builder, result, better error type
-    /// Creates a new node connect and returns a handle to it
+    /// Creates a new node, connects, and returns a handle to it
     /// It is idiomatic to call this once per process and treat the created node as singleton.
     /// The returned handle can be freely clone'd to create additional handles without creating additional connections.
+    ///   - master_uri: Expects a fully resolved http uri for the master e.g. "http://my_host_name:11311"
+    ///   - name: The name of the node, expected to be a valid ros name, all names are interpreted as 'global' in
+    ///     ROS's namespace system. e.g. "my_node" -> "/my_node". "~my_node" is not supported
     pub async fn new(master_uri: &str, name: &str) -> Result<NodeHandle, NodeError> {
-        let name = Name::new(name)?;
+        let name = if name.starts_with("/") {
+            Name::new(name)?
+        } else {
+            Name::new(&format!("/{}", name))?
+        };
+
+        // Extra safety check that our name resolves now
+        let _ = Name::new("test").unwrap().resolve_to_global(&name);
+
         // Follow ROS rules and determine our IP and hostname
         let (addr, hostname) = super::determine_addr().await?;