Orbbec driver doesn't respect external namespace

[bmegli]

Launching driver under external namespace

# below is equivalent to using group with ns in extra launchfile
ROS_NAMESPACE="some_namespace" roslaunch orbbec_camera femto_bolt.launch

One ends up with a mix of namespaced and non-namespaced topics

rostopic list
/camera/color/camera_info
/camera/color/image_raw
/camera/depth/camera_info
/camera/depth/image_raw
/camera/ir/camera_info
/camera/ir/image_raw
/rosout
/rosout_agg
/some_namespace/camera/depth/points
/some_namespace/camera/gyro_accel/sample
/tf
/tf_static

[bmegli]

The reason why above problem happens is using absolute paths when advertising ROS topics

OrbbecSDK_ROS1/src/ros_setup.cpp

Lines 259 to 268 in 54ca6bc

	std::string topic_name = "/" + camera_name_ + "/" + name + "/image_raw";
	ros::SubscriberStatusCallback image_subscribed_cb =
	boost::bind(&OBCameraNode::imageSubscribedCallback, this, stream_index);
	ros::SubscriberStatusCallback image_unsubscribed_cb =
	boost::bind(&OBCameraNode::imageUnsubscribedCallback, this, stream_index);
	image_publishers_[stream_index] = nh_.advertise<sensor_msgs::Image>(
	topic_name, 1, image_subscribed_cb, image_unsubscribed_cb);
	topic_name = "/" + camera_name_ + "/" + name + "/camera_info";
	camera_info_publishers_[stream_index] = nh_.advertise<sensor_msgs::CameraInfo>(
	topic_name, 1, image_subscribed_cb, image_unsubscribed_cb);

Precisely /, at the beginning of topic_name should be removed to support relative namespaces correctly

[bmegli]

Ok, this is bit more messed up than I thought

• using relative paths brings back ROS namespace mechanisms to work.
• but since Orbbec driver glues paths manually one ends up with double namespace
  • and sometimes without as implementation is inconsistent here

rostopic list
/camera/camera/color/camera_info
/camera/camera/color/image_raw
/camera/camera/depth/camera_info
/camera/camera/depth/image_raw
/camera/camera/ir/camera_info
/camera/camera/ir/image_raw
/camera/depth/points
/camera/gyro_accel/sample
/rosout
/rosout_agg
/tf
/tf_static

First camera above would be coming from roslaunch group ns automatically added by ROS
Second one is glued in code from camera_name

[bmegli]

The same absolute path problem emerges for services