feat!: Prepend the node's namespace for ROS communication

src/main.rs

@@ -36,7 +36,7 @@ fn main() -> Result<(), RclrsError> {
 
     let ros_services = Arc::new(ROSServices::new(opc_ua_client_copy_services));
     let _enable_impedance_control = ros_node_copy_service
-        .create_service::<std_srvs::srv::Empty, _>("enable_impedance_control", {
+        .create_service::<std_srvs::srv::Empty, _>("~/enable_impedance_control", {
             let rsc = Arc::clone(&ros_services);
             move |request_header, request| rsc.enable_impedance_control(request_header, request)
         });

src/register_subscriptions.rs

@@ -27,10 +27,10 @@ pub fn register_opcua_subscriptions(ros_node: Arc<Node>, opc_ua_client: Arc<Mute
     let tcp_pose_buffer_copy_quaternion = Arc::clone(&tcp_pose_buffer);
 
     let tcp_twist_publisher: Arc<Mutex<RosPublisher<TwistStamped>>> = Arc::new(Mutex::new(
-        RosPublisher::new(&ros_node, "tcp_twist").unwrap(),
+        RosPublisher::new(&ros_node, "~/tcp_twist").unwrap(),
     ));
     let tcp_wrench_publisher: Arc<Mutex<RosPublisher<WrenchStamped>>> = Arc::new(Mutex::new(
-        RosPublisher::new(&ros_node, "tcp_wrench").unwrap(),
+        RosPublisher::new(&ros_node, "~/tcp_wrench").unwrap(),
     ));
 
     opc_ua_client

src/ros_publisher.rs

@@ -40,7 +40,7 @@ impl JointStatesBuffer {
             current_velocities: Arc::new(Mutex::new(vec![0.0; 6])),
             current_efforts: Arc::new(Mutex::new(vec![0.0; 6])),
             publisher: Arc::new(Mutex::new(
-                RosPublisher::new(&ros_node, "joint_states").unwrap(),
+                RosPublisher::new(&ros_node, "~/joint_states").unwrap(),
             )),
         }
     }
@@ -116,7 +116,7 @@ impl TCPPoseBuffer {
             current_pose: Arc::new(Mutex::new(vec![0.0; 6])),
             current_quaternions: Arc::new(Mutex::new(vec![0.0; 4])),
             publisher: Arc::new(Mutex::new(
-                RosPublisher::new(&ros_node, "tcp_pose").unwrap(),
+                RosPublisher::new(&ros_node, "~/tcp_pose").unwrap(),
             )),
         }
     }

tests/test_bridge.rs

@@ -72,7 +72,7 @@ async fn e2e_opc_ua_var_to_ros_topic() {
 
     // Spawn ROS Subscriber against a sample topic
     let subscription = Arc::new(
-        helpers::ros_subscriber::Subscriber::new("joint_states_subscriber", "joint_states")
+        helpers::ros_subscriber::Subscriber::new("joint_states_subscriber", "/voraus_bridge_node/joint_states")
             .unwrap(),
     );
     let clone = Arc::clone(&subscription.node);
@@ -122,7 +122,7 @@ async fn e2e_ros_service_to_opc_ua_call() {
     let mut bridge_process = ManagedRosBridge::new().expect("Failed to start subprocess");
 
     let service_caller = Arc::new(
-        helpers::ros_service_caller::ServiceCaller::new("enable_impedance_control").unwrap(),
+        helpers::ros_service_caller::ServiceCaller::new("/voraus_bridge_node/enable_impedance_control").unwrap(),
     );
 
     // TODO: Figure out why this takes almost 10 s [RR-836]