Fix parameters for ros2_control namespaces (moveit#1833)

Co-authored-by: AndyZe <[email protected]> Co-authored-by: Henning Kayser <[email protected]>
MisoRobotics · Jan 26, 2023 · 5838ce8 · 5838ce8
1 parent 936b4ad
commit 5838ce8
Showing 1 changed file with 12 additions and 0 deletions.
diff --git a/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp b/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp
@@ -256,8 +256,20 @@ class Ros2ControlManager : public moveit_controller_manager::MoveItControllerMan
     if (!ns_.empty())
     {
       if (!node_->has_parameter("ros_control_namespace"))
+      {
         ns_ = node_->declare_parameter<std::string>("ros_control_namespace", "/");
+      }
+      else
+      {
+        node_->get_parameter<std::string>("ros_control_namespace", ns_);
+      }
     }
+    else if (node->has_parameter("ros_control_namespace"))
+    {
+      node_->get_parameter<std::string>("ros_control_namespace", ns_);
+      RCLCPP_INFO_STREAM(LOGGER, "Namespace for controller manager was specified, namespace: " << ns_);
+    }
+
     list_controllers_service_ = node_->create_client<controller_manager_msgs::srv::ListControllers>(
         getAbsName("controller_manager/list_controllers"));
     switch_controller_service_ = node_->create_client<controller_manager_msgs::srv::SwitchController>(