Include namespaces in service names (#140)

* Include node namespace in IPC Action service name
* Include node namespace in IPC Client/Service service name
---------
Co-authored-by: Mauro Passerino <[email protected]>

Author: mauropasse

rclcpp/include/rclcpp/client.hpp

@@ -922,11 +922,30 @@ class Client : public ClientBase
     // Create a ClientIntraProcess which will be given to the intra-process manager.
     using ClientIntraProcessT = rclcpp::experimental::ClientIntraProcess<ServiceT>;
 
+    // Expand the given service name.
+    char * remapped_service_name = NULL;
+    rcl_allocator_t allocator = rcl_get_default_allocator();
+
+    rcl_ret_t ret = rcl_node_resolve_name(
+      this->get_rcl_node_handle(),
+      this->get_service_name(),
+      allocator,
+      true,
+      false,
+      &remapped_service_name);
+
+    if (RCL_RET_OK != ret) {
+      allocator.deallocate(remapped_service_name, allocator.state);
+      rclcpp::exceptions::throw_from_rcl_error(ret, "client failed to resolve service name");
+    }
+
     client_intra_process_ = std::make_shared<ClientIntraProcessT>(
       context_,
-      this->get_service_name(),
+      remapped_service_name,
       qos_profile);
 
+    allocator.deallocate(remapped_service_name, allocator.state);
+
     // Add it to the intra process manager.
     using rclcpp::experimental::IntraProcessManager;
     auto ipm = context_->get_sub_context<IntraProcessManager>();

rclcpp/include/rclcpp/service.hpp

@@ -594,13 +594,33 @@ class Service
     // Create a ServiceIntraProcess which will be given to the intra-process manager.
     using ServiceIntraProcessT = rclcpp::experimental::ServiceIntraProcess<ServiceT>;
 
+
+    // Expand the given service name.
+    char * remapped_service_name = NULL;
+    rcl_allocator_t allocator = rcl_get_default_allocator();
+
+    rcl_ret_t ret = rcl_node_resolve_name(
+      this->get_rcl_node_handle(),
+      this->get_service_name(),
+      allocator,
+      true,
+      false,
+      &remapped_service_name);
+
+    if (RCL_RET_OK != ret) {
+      allocator.deallocate(remapped_service_name, allocator.state);
+      rclcpp::exceptions::throw_from_rcl_error(ret, "service failed to resolve service name");
+    }
+
     service_intra_process_ = std::make_shared<ServiceIntraProcessT>(
       this->shared_from_this(),
       any_callback_,
       context_,
-      this->get_service_name(),
+      remapped_service_name,
       qos_profile);
 
+    allocator.deallocate(remapped_service_name, allocator.state);
+
     using rclcpp::experimental::IntraProcessManager;
     auto ipm = context_->get_sub_context<IntraProcessManager>();
     uint64_t intra_process_service_id = ipm->add_intra_process_service(service_intra_process_);

rclcpp_action/include/rclcpp_action/client.hpp

@@ -945,12 +945,14 @@ class Client : public ClientBase
     qos_history.feedback_topic_depth = options.feedback_topic_qos.history;
     qos_history.status_topic_depth = options.status_topic_qos.history;
 
+    std::string remapped_action_name = node_base->resolve_topic_or_service_name(action_name, true);
+
     // Create a ActionClientIntraProcess which will be given
     // to the intra-process manager.
     auto context = node_base->get_context();
     ipc_action_client_ = std::make_shared<ActionClientIntraProcessT>(
       context,
-      action_name,
+      remapped_action_name,
       qos_history,
       std::bind(&Client::handle_status_message, this, std::placeholders::_1),
       std::bind(&Client::handle_feedback_message, this, std::placeholders::_1));

rclcpp_action/include/rclcpp_action/server.hpp

@@ -932,11 +932,14 @@ class Server : public ServerBase, public std::enable_shared_from_this<Server<Act
     std::lock_guard<std::recursive_mutex> lock(ipc_mutex_);
 
     use_intra_process_ = true;
+
+    std::string remapped_action_name = node_base->resolve_topic_or_service_name(name, true);
+
     // Create a ActionClientIntraProcess which will be given
     // to the intra-process manager.
     auto context = node_base->get_context();
     ipc_action_server_ = std::make_shared<ActionServerIntraProcessT>(
-      context, name, qos_history,
+      context, remapped_action_name, qos_history,
       std::bind(&Server::ipc_execute_goal_request_received, this, std::placeholders::_1),
       std::bind(&Server::ipc_execute_cancel_request_received, this, std::placeholders::_1),
       std::bind(&Server::ipc_execute_result_request_received, this, std::placeholders::_1));