publish services in private namespace

Author: lreiher

README.md

@@ -381,7 +381,7 @@ Enables connected ROS-based devices or robots to exchange ROS messages via an MQ
 
 ###### Services
 
-- `is_connected` ([`mqtt_client/srv/IsConnected`](mqtt_client_interfaces/srv/IsConnected.srv))
+- `~is_connected` ([`mqtt_client/srv/IsConnected`](mqtt_client_interfaces/srv/IsConnected.srv))
   Returns whether the client is connected to the MQTT broker.
 
 ###### Parameters
@@ -410,13 +410,13 @@ Enables connected ROS-based devices or robots to exchange ROS messages via an MQ
 
 ###### Services
 
-- `is_connected` ([`mqtt_client/srv/IsConnected`](mqtt_client_interfaces/srv/IsConnected.srv))
+- `~/is_connected` ([`mqtt_client/srv/IsConnected`](mqtt_client_interfaces/srv/IsConnected.srv))
   Returns whether the client is connected to the MQTT broker.
 
-- `new_ros2mqtt_bridge` ([`mqtt_client/srv/NewRos2MqttBridge`](mqtt_client_interfaces/srv/NewRos2MqttBridge.srv))
+- `~/new_ros2mqtt_bridge` ([`mqtt_client/srv/NewRos2MqttBridge`](mqtt_client_interfaces/srv/NewRos2MqttBridge.srv))
   Returns whether a new ROS -> MQTT bridge was created.
 
-- `new_mqtt2ros_bridge` ([`mqtt_client/srv/NewMqtt2RosBridge`](mqtt_client_interfaces/srv/NewMqtt2RosBridge.srv))
+- `~/new_mqtt2ros_bridge` ([`mqtt_client/srv/NewMqtt2RosBridge`](mqtt_client_interfaces/srv/NewMqtt2RosBridge.srv))
   Returns whether a new MQTT -> ROS bridge was created.
 
 

mqtt_client/src/MqttClient.ros2.cpp

@@ -446,19 +446,17 @@ void MqttClient::setup() {
   // create ROS service server
   is_connected_service_ =
     create_service<mqtt_client_interfaces::srv::IsConnected>(
-      "is_connected", std::bind(&MqttClient::isConnectedService, this,
+      "~/is_connected", std::bind(&MqttClient::isConnectedService, this,
                                 std::placeholders::_1, std::placeholders::_2));
 
   // create dynamic mappings services
-
   new_ros2mqtt_bridge_service_ =
   create_service<mqtt_client_interfaces::srv::NewRos2MqttBridge>(
-      "new_ros2mqtt_bridge", std::bind(&MqttClient::newRos2MqttBridge, this,
+      "~/new_ros2mqtt_bridge", std::bind(&MqttClient::newRos2MqttBridge, this,
                                 std::placeholders::_1, std::placeholders::_2));
-
   new_mqtt2ros_bridge_service_ =
   create_service<mqtt_client_interfaces::srv::NewMqtt2RosBridge>(
-      "new_mqtt2ros_bridge", std::bind(&MqttClient::newMqtt2RosBridge, this,
+      "~/new_mqtt2ros_bridge", std::bind(&MqttClient::newMqtt2RosBridge, this,
                                 std::placeholders::_1, std::placeholders::_2));
 
   // setup subscribers; check for new types every second