adding namespace support for map saving (#613)

SteveMacenski · Sep 25, 2023 · b26c7c3 · b26c7c3
1 parent 5445c62
commit b26c7c3
Showing 1 changed file with 8 additions and 2 deletions.
diff --git a/src/map_saver.cpp b/src/map_saver.cpp
@@ -58,10 +58,16 @@ bool MapSaver::saveMapCallback(
   }
 
   const std::string name = req->name.data;
+  std::string set_namespace;
+  const std::string namespace_str = std::string(node_->get_namespace());
+  if (!namespace_str.empty()) {
+    set_namespace = " -r __ns:=" + namespace_str;
+  }
+
   if (name != "") {
     RCLCPP_INFO(node_->get_logger(),
       "SlamToolbox: Saving map as %s.", name.c_str());
-    int rc = system(("ros2 run nav2_map_server map_saver_cli -f " + name  + " --ros-args -p map_subscribe_transient_local:=true").c_str());
+    int rc = system(("ros2 run nav2_map_server map_saver_cli -f " + name  + " --ros-args -p map_subscribe_transient_local:=true" + set_namespace).c_str());
     if (rc == 0) {
       response->result = response->RESULT_SUCCESS;
     } else {
@@ -70,7 +76,7 @@ bool MapSaver::saveMapCallback(
   } else {
     RCLCPP_INFO(node_->get_logger(),
       "SlamToolbox: Saving map in current directory.");
-    int rc = system("ros2 run nav2_map_server map_saver_cli --ros-args -p map_subscribe_transient_local:=true");
+    int rc = system(("ros2 run nav2_map_server map_saver_cli --ros-args -p map_subscribe_transient_local:=true" + set_namespace).c_str());
     if (rc == 0) {
       response->result = response->RESULT_SUCCESS;
     } else {