world visualizer: add to the constructor the node/nodelet namespace where (#512)

the world file name parameter lives

avoidance/include/avoidance/rviz_world_loader.h

@@ -49,11 +49,12 @@ class WorldVisualizer {
   ros::Publisher drone_pub_;
 
   std::string world_path_;
+  std::string nodelet_ns_;
 
   void loopCallback(const ros::TimerEvent& event);
 
  public:
-  WorldVisualizer(const ros::NodeHandle& nh);
+  WorldVisualizer(const ros::NodeHandle& nh, const std::string& nodelet_ns);
 
   /**
   * @brief      initializes all publishers used for local planner visualization

avoidance/src/rviz_world_loader.cpp

@@ -4,7 +4,8 @@
 
 namespace avoidance {
 
-WorldVisualizer::WorldVisualizer(const ros::NodeHandle& nh) : nh_(nh) {
+WorldVisualizer::WorldVisualizer(const ros::NodeHandle& nh, const std::string& nodelet_ns)
+    : nh_(nh), nodelet_ns_(nodelet_ns) {
   pose_sub_ = nh_.subscribe<const geometry_msgs::PoseStamped&>("/mavros/local_position/pose", 1,
                                                                &WorldVisualizer::positionCallback, this);
 
@@ -12,7 +13,13 @@ WorldVisualizer::WorldVisualizer(const ros::NodeHandle& nh) : nh_(nh) {
   drone_pub_ = nh_.advertise<visualization_msgs::Marker>("/drone", 1);
   loop_timer_ = nh_.createTimer(ros::Duration(2.0), &WorldVisualizer::loopCallback, this);
 
-  nh_.param<std::string>("/local_planner_nodelet/world_name", world_path_, "");
+  std::string world_string;
+  if (!nodelet_ns_.empty()) {
+    world_string = nodelet_ns_ + "/world_name";
+  } else {
+    world_string = "/world_name";
+  }
+  nh_.param<std::string>(world_string, world_path_, "");
 }
 
 void WorldVisualizer::loopCallback(const ros::TimerEvent& event) {

global_planner/src/nodes/global_planner_node.cpp

@@ -16,7 +16,7 @@ GlobalPlannerNode::GlobalPlannerNode(const ros::NodeHandle& nh, const ros::NodeH
   server_.setCallback(f);
 
 #ifndef DISABLE_SIMULATION
-  world_visualizer_.reset(new avoidance::WorldVisualizer(nh_));
+  world_visualizer_.reset(new avoidance::WorldVisualizer(nh_, ros::this_node::getName()));
 #endif
 
   avoidance_node_.init();
@@ -408,4 +408,4 @@ void GlobalPlannerNode::publishSetpoint() {
 
 bool GlobalPlannerNode::isCloseToGoal() { return distance(current_goal_, last_pos_) < 1.5; }
 
-}  // namespace global_planner
\ No newline at end of file
+}  // namespace global_planner

local_planner/src/nodes/local_planner_nodelet.cpp

@@ -58,7 +58,7 @@ void LocalPlannerNodelet::InitializeNodelet() {
   avoidance_node_.reset(new AvoidanceNode(nh_, nh_private_));
 
 #ifndef DISABLE_SIMULATION
-  world_visualizer_.reset(new WorldVisualizer(nh_));
+  world_visualizer_.reset(new WorldVisualizer(nh_, nodelet::Nodelet::getName()));
 #endif
 
   readParams();

safe_landing_planner/src/nodes/safe_landing_planner_node.cpp

@@ -8,9 +8,8 @@ SafeLandingPlannerNode::SafeLandingPlannerNode(const ros::NodeHandle &nh) : nh_(
   safe_landing_planner_.reset(new SafeLandingPlanner());
 
 #ifndef DISABLE_SIMULATION
-  world_visualizer_.reset(new avoidance::WorldVisualizer(nh_));
+  world_visualizer_.reset(new avoidance::WorldVisualizer(nh_, ros::this_node::getName()));
 #endif
-
   visualizer_.initializePublishers(nh_);
 
   std::string camera_topic;