Apply camera name in topics

[hyunseok-yang]

Camera name is not applied into topic name.

[Tracked by RSDEV-472]

[hyunseok-yang]

To achevie what I expected, it needs to be modified as latest commit.

@SamerKhshiboun
As we disccused at this PR #2764, the code should be modified.

the command

ros2 launch realsense2_camera rs_launch.py align_depth.enable:=true rgb_camera.profile:=640x480x6 depth_module.profile:=640x480x6 enable_sync:=True camera_name:=cam1 camera_namespace:=ns1

latest of ros2-development

/ns1/aligned_depth_to_color/camera_info
/ns1/aligned_depth_to_color/image_raw
/ns1/aligned_depth_to_color/image_raw/compressed
/ns1/aligned_depth_to_color/image_raw/compressedDepth
/ns1/aligned_depth_to_color/image_raw/theora
/ns1/color/camera_info
/ns1/color/image_raw
/ns1/color/image_raw/compressed
/ns1/color/image_raw/compressedDepth
/ns1/color/image_raw/theora
/ns1/color/metadata
/ns1/depth/camera_info
/ns1/depth/image_rect_raw
/ns1/depth/image_rect_raw/compressed
/ns1/depth/image_rect_raw/compressedDepth
/ns1/depth/image_rect_raw/theora
/ns1/depth/metadata
/ns1/extrinsics/depth_to_color
/ns1/extrinsics/depth_to_depth
/ns1/imu

after apply the latest commit

/ns1/cam1/aligned_depth_to_color/camera_info
/ns1/cam1/aligned_depth_to_color/image_raw
/ns1/cam1/aligned_depth_to_color/image_raw/compressed
/ns1/cam1/aligned_depth_to_color/image_raw/compressedDepth
/ns1/cam1/aligned_depth_to_color/image_raw/theora
/ns1/cam1/color/camera_info
/ns1/cam1/color/image_raw
/ns1/cam1/color/image_raw/compressed
/ns1/cam1/color/image_raw/compressedDepth
/ns1/cam1/color/image_raw/theora
/ns1/cam1/color/metadata
/ns1/cam1/depth/camera_info
/ns1/cam1/depth/image_rect_raw
/ns1/cam1/depth/image_rect_raw/compressed
/ns1/cam1/depth/image_rect_raw/compressedDepth
/ns1/cam1/depth/image_rect_raw/theora
/ns1/cam1/depth/metadata
/ns1/cam1/extrinsics/depth_to_color
/ns1/cam1/extrinsics/depth_to_depth
/ns1/cam1/imu

[SamerKhshiboun]

@hyunseok-yang Thanks for submitting the PR.
I see that a lot of test failed due to this change, and that what is blocking the PR right now.
Do you think you can solve these test issues ?

Assigning @Arun-Prasad-V as reviewer.

[SamerKhshiboun]

Tracked by RSDEV-472 internally.

We should also update the README and announce this change to all users.

[hyunseok-yang]

@SamerKhshiboun
Well, it looks test suite was failed since I changed the topic of publishers.

I'm not sure I can modify all of test scirpt in the workspace.

And, for the README file, where should I modify it?

[Arun-Prasad-V]

Hi @hyunseok-yang ,

Please take a look at this https://design.ros2.org/articles/topic_and_service_names.html.

Refer the last row: if you just prefix "~/" to the input topic name, it will automatically add the node namespace and the node name.

Can we try this?

[hyunseok-yang]

Hi @hyunseok-yang ,

Please take a look at this https://design.ros2.org/articles/topic_and_service_names.html.

Refer the last row: if you just prefix "~/" to the input topic name, it will automatically add the node namespace and the node name.

Can we try this?

Thank you for your suggestion.
It seems work!

I've updated the commit.

[Arun-Prasad-V]

@hyunseok-yang ,

Please update the poindcloud topic name as well. Refer file "named_filter.cpp" line number 125. https://github.com/IntelRealSense/realsense-ros/blob/72b552497892992fb31a8661f186192dd4d1c15c/realsense2_camera/src/named_filter.cpp#L125

[hyunseok-yang]

@hyunseok-yang ,

Please update the poindcloud topic name as well. Refer file "named_filter.cpp" line number 125. https://github.com/IntelRealSense/realsense-ros/blob/72b552497892992fb31a8661f186192dd4d1c15c/realsense2_camera/src/named_filter.cpp#L125

@Arun-Prasad-V
Updated that part as well.
Please review the latest commit :)

[hyunseok-yang]

@Arun-Prasad-V

I think test suite scripts should be modified also in spite of topic is modified as we expected.

Could you give any guidance or hint where should I edit it?

[Arun-Prasad-V]

@Arun-Prasad-V

I think test suite scripts should be modified also in spite of topic is modified as we expected.

Could you give any guidance or hint where should I edit it?

@hyunseok-yang ,
Sure. We will review and let you know about test suite updates and readme update.
Thanks.

cc: @PrasRsRos

[hyunseok-yang]

@SamerKhshiboun
how about test suite??

[SamerKhshiboun]

@SamerKhshiboun how about test suite??

Tests have been fixed and merged by @PrasRsRos.
Thanks for your contributions