Add namespace and make param file independent from actual node name

Author: lukaszanger

mqtt_client/config/params.ros2.yaml

@@ -1,4 +1,4 @@
-mqtt_client:
+/**/*:
   ros__parameters:
     broker:
       host: localhost

mqtt_client/launch/standalone.launch

@@ -1,9 +1,10 @@
 <launch>
 
-  <arg name="params_file" default="$(find mqtt_client)/config/params.yaml" />
+  <arg name="namespace" default="mqtt_client" />
   <arg name="node_name" default="mqtt_client" />
+  <arg name="params_file" default="$(find mqtt_client)/config/params.yaml" />
 
-  <node pkg="nodelet" type="nodelet" name="$(arg node_name)" args="standalone mqtt_client/MqttClient" output="screen">
+  <node pkg="nodelet" type="nodelet" name="$(arg node_name)" ns="$(arg namespace)" args="standalone mqtt_client/MqttClient" output="screen">
     <rosparam command="load" file="$(arg params_file)" />
   </node>
 

mqtt_client/launch/standalone.launch.ros2.xml

@@ -1,9 +1,10 @@
 <launch>
 
-  <arg name="params_file" default="$(find-pkg-share mqtt_client)/config/params.ros2.yaml" />
+  <arg name="namespace" default="mqtt_client" />
   <arg name="node_name" default="mqtt_client" />
+  <arg name="params_file" default="$(find-pkg-share mqtt_client)/config/params.ros2.yaml" />
 
-  <node pkg="mqtt_client" exec="mqtt_client" name="$(var node_name)" output="screen">
+  <node pkg="mqtt_client" exec="mqtt_client" name="$(var node_name)" namespace="$(var namespace)" output="screen">
     <param from="$(var params_file)" />
   </node>