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registerTopic with topic name #61

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registerTopic with topic name #61

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10 changes: 6 additions & 4 deletions src/ros2/ros2.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -58,7 +58,7 @@ class Node
}

// Register Topic
ret = this->registerTopic<MsgT>();
ret = this->registerTopic<MsgT>(name);

if (ret == false)
{
Expand Down Expand Up @@ -104,7 +104,7 @@ class Node
}

// Register Topic
ret = this->registerTopic<MsgT>();
ret = this->registerTopic<MsgT>(name);

if (ret == false)
{
Expand Down Expand Up @@ -147,7 +147,7 @@ class Node

template <
typename MsgT>
bool registerTopic()
bool registerTopic(const char* name)
{
bool ret;
MsgT topic;
Expand All @@ -157,7 +157,9 @@ class Node
return false;
}

ret = xrcedds::registerTopic(&this->xrcedds_participant_, topic.name_, topic.type_, topic.id_);
char topic_name[64];
sprintf(topic_name, "%s/%s", getPrefixString(TOPICS_PUBLISH), name);
ret = xrcedds::registerTopic(&this->xrcedds_participant_, topic_name, topic.type_, topic.id_);

return ret;
}
Expand Down