Merge pull request #271 from ros2/bouncy_patch1

backport #263 to bouncy
ros2 · Jul 17, 2018 · ea72dae · ea72dae
2 parents d13a902 + 3de8677
commit ea72dae
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Showing 2 changed files with 17 additions and 1 deletion.
diff --git a/rcl/src/rcl/node.c b/rcl/src/rcl/node.c
@@ -244,7 +244,7 @@ rcl_node_init(
   }
   char * remapped_namespace = NULL;
   ret = rcl_remap_node_namespace(
-    &(node->impl->options.arguments), global_args, local_namespace_,
+    &(node->impl->options.arguments), global_args, name,
     *allocator, &remapped_namespace);
   if (RCL_RET_OK != ret) {
     goto fail;

diff --git a/rcl/test/rcl/test_remap_integration.cpp b/rcl/test/rcl/test_remap_integration.cpp
@@ -288,3 +288,19 @@ TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_relativ
 
   EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node));
 }
+
+TEST_F(CLASSNAME(TestRemapIntegrationFixture, RMW_IMPLEMENTATION), remap_using_node_rules) {
+  int argc;
+  char ** argv;
+  SCOPE_GLOBAL_ARGS(
+    argc, argv, "process_name", "original_name:__ns:=/new_ns");
+
+  rcl_node_t node = rcl_get_zero_initialized_node();
+  rcl_node_options_t default_options = rcl_node_get_default_options();
+  ASSERT_EQ(RCL_RET_OK, rcl_node_init(&node, "original_name", "", &default_options));
+
+  {  // Node namespace gets remapped
+    EXPECT_STREQ("/new_ns", rcl_node_get_namespace(&node));
+  }
+  EXPECT_EQ(RCL_RET_OK, rcl_node_fini(&node));
+}