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Fix CLI namespace expansion for expand_gz_topic_names #873

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Fix CLI namespace expansion for expand_gz_topic_names #873

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19 changes: 19 additions & 0 deletions ros_gz_bridge/src/parameter_bridge.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -84,6 +84,10 @@ int main(int argc, char * argv[])
bridge_node->declare_parameter<bool>("lazy", false);
bridge_node->get_parameter("lazy", lazy_subscription);

bool expand_gz_topic_names = false;
bridge_node->get_parameter("expand_gz_topic_names", expand_gz_topic_names);
std::string ns = bridge_node->get_namespace();

const std::string delim = "@";
const std::string delimGzToROS = "[";
const std::string delimROSToGz = "]";
Expand All @@ -102,6 +106,21 @@ int main(int argc, char * argv[])
config.gz_topic_name = arg.substr(0, delimPos);
arg.erase(0, delimPos + delim.size());

if (expand_gz_topic_names) {
std::string gz_topic = config.gz_topic_name;
// Strip leading slash from the topic to prevent double slashes (e.g., /demo//chatter)
if (!gz_topic.empty() && gz_topic.front() == '/') {
gz_topic.erase(0, 1);
}

// Safely append the namespace
if (ns == "/") {
config.gz_topic_name = "/" + gz_topic;
} else {
config.gz_topic_name = ns + "/" + gz_topic;
}
}

// Get the direction delimiter, which should be one of:
// @ == bidirectional, or
// [ == only from GZ to ROS, or
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