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Remappings in Bus Configuration YAML #352

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Remappings in Bus Configuration YAML #352

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2 changes: 1 addition & 1 deletion canopen_core/include/canopen_core/device_container.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -137,7 +137,7 @@ class DeviceContainer : public rclcpp_components::ComponentManager
virtual bool load_component(
const std::string package_name, const std::string driver_name, const uint16_t node_id,
const std::string node_name, std::vector<rclcpp::Parameter> & params,
const std::string node_namespace = "");
std::map<std::string, std::string> remappings, const std::string node_namespace = "");

/**
* @brief Shutdown all devices.
Expand Down
18 changes: 15 additions & 3 deletions canopen_core/src/device_container.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ bool DeviceContainer::init_driver(uint16_t node_id)
bool DeviceContainer::load_component(
const std::string package_name, const std::string driver_name, const uint16_t node_id,
const std::string node_name, std::vector<rclcpp::Parameter> & params,
const std::string node_namespace)
std::map<std::string, std::string> remappings, const std::string node_namespace)
{
ComponentResource component;
std::string resource_index("rclcpp_components");
Expand Down Expand Up @@ -62,6 +62,13 @@ bool DeviceContainer::load_component(
remap_rules.push_back("-r");
remap_rules.push_back("__ns:=" + canopen_ns);

// Remappings
for (auto it = remappings.begin(); it != remappings.end(); it++)
{
remap_rules.push_back("-r");
remap_rules.push_back(it->first + ":=" + it->second);
}

if (node_namespace.empty())
{
RCLCPP_WARN(
Expand Down Expand Up @@ -230,6 +237,8 @@ bool DeviceContainer::load_master()
auto driver_name = config_->get_entry<std::string>(*it, "driver");
auto package_name = config_->get_entry<std::string>(*it, "package");
auto node_namespace = config_->get_entry<std::string>(*it, "namespace").value_or("");
auto remappings = config_->get_entry<std::map<std::string, std::string>>
(*it, "remappings").value_or(std::map<std::string, std::string>());
if (!node_id.has_value() || !driver_name.has_value() || !package_name.has_value())
{
RCLCPP_ERROR(
Expand All @@ -247,7 +256,7 @@ bool DeviceContainer::load_master()

if (!this->load_component(
package_name.value(), driver_name.value(), node_id.value(), *it, params,
node_namespace))
remappings, node_namespace))
{
RCLCPP_ERROR(this->get_logger(), "Error: Loading master failed.");
return false;
Expand Down Expand Up @@ -287,6 +296,9 @@ bool DeviceContainer::load_drivers()
auto driver_name = config_->get_entry<std::string>(*it, "driver");
auto package_name = config_->get_entry<std::string>(*it, "package");
auto node_namespace = config_->get_entry<std::string>(*it, "namespace").value_or("");
auto remappings = config_->get_entry<std::map<std::string, std::string>>
(*it, "remappings").value_or(std::map<std::string, std::string>());

if (!node_id.has_value() || !driver_name.has_value() || !package_name.has_value())
{
RCLCPP_ERROR(
Expand Down Expand Up @@ -323,7 +335,7 @@ bool DeviceContainer::load_drivers()

if (!this->load_component(
package_name.value(), driver_name.value(), node_id.value(), *it, params,
node_namespace))
remappings, node_namespace))
{
RCLCPP_ERROR(
this->get_logger(),
Expand Down
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