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nlamprian/fix_duplicate_node #411

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10 changes: 7 additions & 3 deletions teb_local_planner/src/teb_local_planner_ros.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,10 +85,14 @@ void TebLocalPlannerROS::initialize(nav2_util::LifecycleNode::SharedPtr node)
// check if the plugin is already initialized
if(!initialized_)
{
auto options = rclcpp::NodeOptions().arguments(
{"--ros-args", "-r",
std::string("__node:=") + node->get_name() + "_" + name_ +
"_costmap_converter_rclcpp_node",
"--"});
intra_proc_node_ = std::make_shared<rclcpp::Node>("_", options);

// declare parameters (ros2-dashing)
intra_proc_node_.reset(
new rclcpp::Node("costmap_converter", node->get_namespace(),
rclcpp::NodeOptions()));
cfg_->declareParameters(node, name_);

// get parameters of TebConfig via the nodehandle and override the default config
Expand Down