Enable setting prefix as param prefix.

include/control_toolbox/pid_ros.hpp

@@ -61,16 +61,19 @@ class CONTROL_TOOLBOX_PUBLIC PidROS
    * to add a prefix to the pid parameters
    *
    * \param node ROS node
-   * \param topic_prefix prefix to add to the pid parameters.
+   * \param prefix prefix to add to the pid parameters.
+   *               Per default is prefix interpreted as prefix for topics.
+   * \param prefix_is_for_params provided prefix should be interpreted as prefix for parameters.
+   *                             See `initialize` for details.
    */
   template<class NodeT>
-  explicit PidROS(std::shared_ptr<NodeT> node_ptr, std::string topic_prefix = std::string(""))
+  explicit PidROS(std::shared_ptr<NodeT> node_ptr, std::string prefix = std::string(""), bool prefix_is_for_params = false)
   : PidROS(
       node_ptr->get_node_base_interface(),
       node_ptr->get_node_logging_interface(),
       node_ptr->get_node_parameters_interface(),
       node_ptr->get_node_topics_interface(),
-      topic_prefix)
+           prefix, prefix_is_for_params)
   {
   }
 
@@ -79,13 +82,13 @@ class CONTROL_TOOLBOX_PUBLIC PidROS
     rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
     rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_params,
     rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface,
-    std::string topic_prefix = std::string(""))
+    std::string prefix = std::string(""), bool prefix_is_for_params = false)
   : node_base_(node_base),
     node_logging_(node_logging),
     node_params_(node_params),
     topics_interface_(topics_interface)
   {
-    initialize(topic_prefix);
+    initialize(prefix, prefix_is_for_params);
   }
 
   /*!
@@ -211,7 +214,14 @@ class CONTROL_TOOLBOX_PUBLIC PidROS
 
   bool getBooleanParam(const std::string & param_name, bool & value);
 
-  void initialize(std::string topic_prefix);
+  /*!
+   * \param prefix prefix to add to the pid parameters.
+   *               Per default is prefix interpreted as prefix for topics.
+   * \param prefix_is_for_params provided prefix should be interpreted as prefix for parameters.
+   *        If the parameter is `true` then "/" will not be replaced with "." for parameters prefix,
+   *         and "/" will be added to topic prefix, if prefix is not starting with "/" or "~".
+   */
+  void initialize(std::string prefix, bool prefix_is_for_params = false);
 
   rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr parameter_callback_;
 

src/pid_ros.cpp

@@ -43,9 +43,9 @@
 namespace control_toolbox
 {
 
-void PidROS::initialize(std::string topic_prefix)
+void PidROS::initialize(std::string prefix, bool prefix_is_for_params)
 {
-  param_prefix_ = topic_prefix;
+  param_prefix_ = prefix;
   // If it starts with a "~", remove it
   if (param_prefix_.compare(0, 1, "~") == 0) {
     param_prefix_.erase(0, 1);
@@ -54,14 +54,26 @@ void PidROS::initialize(std::string topic_prefix)
   if (param_prefix_.compare(0, 1, "/") == 0) {
     param_prefix_.erase(0, 1);
   }
-  // Replace namespacing separator from "/" to "." in parameters
-  std::replace(param_prefix_.begin(), param_prefix_.end(), '/', '.');
+  if (!prefix_is_for_params)
+  {
+    // Replace namespacing separator from "/" to "." in parameters
+    std::replace(param_prefix_.begin(), param_prefix_.end(), '/', '.');
+  }
   // Add a trailing "."
   if (!param_prefix_.empty() && param_prefix_.back() != '.') {
     param_prefix_.append(".");
   }
 
-  topic_prefix_ = topic_prefix;
+  topic_prefix_ = prefix;
+  if (prefix_is_for_params)
+  {
+    // Add local namespace is global is not defined
+    if (param_prefix_.compare(0, 1, "~") != 0 && param_prefix_.compare(0, 1, "/") != 0)
+    {
+      topic_prefix_ = "/" + topic_prefix_;
+    }
+  }
+
   // Replace parameter separator from "." to "/" in topics
   std::replace(topic_prefix_.begin(), topic_prefix_.end(), '.', '/');
   // Add a trailing "/"