introspection: remove any invalid ROS-name chars from hostname (moveit#465)

Author: rhaschke

core/src/introspection.cpp

@@ -49,6 +49,12 @@
 #include <sstream>
 #include <boost/bimap.hpp>
 
+namespace ros {
+namespace names {
+bool isValidCharInName(char c);  // unfortunately this is not declared in ros/names.h
+}  // namespace names
+}  // namespace ros
+
 namespace moveit {
 namespace task_constructor {
 
@@ -57,8 +63,10 @@ std::string getTaskId(const TaskPrivate* task) {
 	std::ostringstream oss;
 	char our_hostname[256] = { 0 };
 	gethostname(our_hostname, sizeof(our_hostname) - 1);
-	// Hostname could have `-` as a character but this is an invalid character in ROS so we replace it with `_`
-	std::replace(std::begin(our_hostname), std::end(our_hostname), '-', '_');
+	// Replace all invalid ROS-name chars with an underscore
+	std::replace_if(
+	    our_hostname, our_hostname + strlen(our_hostname),
+	    [](const char ch) { return !ros::names::isValidCharInName(ch); }, '_');
 	oss << our_hostname << "_" << getpid() << "_" << reinterpret_cast<std::size_t>(task);
 	return oss.str();
 }