names.cpp

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#include "names.h"

namespace openni_camera {

// Suppose we have remappings
//  * "camera" -> "prosilica"
//  * "camera/image_mono" -> "camera/image_color"
// We want following resolutions to hold:
//  * "camera/image_raw" -> "/prosilica/image_raw"
//  * "camera/image_mono" -> "/prosilica/image_color"
// Second example applies BOTH of the input remappings!
std::string resolve(const ros::NodeHandle& nh, const std::string& name)
{
  // First do direct string match as before:
  // "camera/image_mono" -> "/camera/image_color"
  std::string resolved = nh.resolveName(name);

  // Then attempt to match its parent namespaces, right to left
  // "/camera/image_color" -> "/prosilica/image_color"
  size_t slash = std::string::npos;
  while (true)
  {
    slash = resolved.find_last_of('/', slash);
    if (slash == 0)
      break;

    std::string left  = resolved.substr(0, slash);
    std::string right = resolved.substr(slash + 1);
    std::string remapped = ros::names::append(nh.resolveName(left), right);
    if (remapped != resolved)
      return remapped;

    slash--;
  }

  return resolved;
}

} // namespace openni_camera

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openni_camera_unstable
Author(s): Suat Gedikli, Patrick Mihelich, Radu Bogdan Rusu
autogenerated on Fri Jan 11 09:14:58 2013