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Fixes Underwater Camera Plugin which sets the ROS2 node name statically, which doesn't allow to have multiples #23

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Fixes Underwater Camera Plugin which sets the ROS2 node name statically, which doesn't allow to have multiples #23

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15 changes: 8 additions & 7 deletions gazebo/dave_gz_sensor_plugins/src/UnderwaterCamera.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -104,13 +104,6 @@ void UnderwaterCamera::Configure(
gzdbg << "dave_gz_sensor_plugins::UnderwaterCamera::Configure on entity: " << _entity
<< std::endl;

if (!rclcpp::ok())
{
rclcpp::init(0, nullptr);
}

this->ros_node_ = std::make_shared<rclcpp::Node>("underwater_camera_node");

auto rgbdCamera = _ecm.Component<gz::sim::components::RgbdCamera>(_entity);
if (!rgbdCamera)
{
Expand All @@ -133,6 +126,14 @@ void UnderwaterCamera::Configure(
return;
}

if (!rclcpp::ok())
{
rclcpp::init(0, nullptr);
}

std::string rosNodeName = sensorSdf.Name() + "_node";
this->ros_node_ = std::make_shared<rclcpp::Node>(rosNodeName);

if (this->dataPtr->topic.empty())
{
auto scoped = gz::sim::scopedName(_entity, _ecm);
Expand Down