Moved namespacing to launch file

Author: anurag

launch/kinect2Client.launch

@@ -1,8 +1,10 @@
 <launch>
 	<param name="serverNameOrIP" value="172.19.179.53" />
+		<group ns="/head/kinect2">
 		<node name="startRGB" pkg="k2_client" type="startRGB"/>
 		<node name="startDepth" pkg="k2_client" type="startDepth"/>
 		<node name="startIR" pkg="k2_client" type="startIR"/>
 		<node name="startBody" pkg="k2_client" type="startBody"/>
 		<node name="startAudio" pkg="k2_client" type="startAudio"/>
+		</group>
 </launch>

src/startAudio.cpp

@@ -27,7 +27,7 @@ WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
 ***************************************************************************************/
 #include "k2_client.h"
 
-std::string topicName = "kinect2/audio";
+std::string topicName = "audio";
 int twiceStreamSize = 8200;
 int streamSize = 4100;
 
@@ -52,7 +52,7 @@ int main(int argC,char **argV)
 		bool parsingSuccessful = jsonReader.parse(jsonString,jsonObject,false);
 		k2_client::Audio audio;
 		audio.header.stamp = ros::Time(jsonObject["utcTime"].asDouble());
-		audio.header.frame_id = "/head/kinect2/microphone_frame";
+		audio.header.frame_id =  ros::this_node::getNamespace() + "/microphone_frame";
 		audio.beamAngle = jsonObject["beamAngle"].asDouble();
 		audio.beamAngleConfidence = jsonObject["beamAngleConfidence"].asDouble();
 		for(int i=0;i<256;i++)

src/startBody.cpp

@@ -70,7 +70,7 @@ int main(int argC,char **argV)
 			{
 				k2_client::Body body;
 				body.header.stamp = ros::Time(utcTime);
-				body.header.frame_id = "/head/kinect2/rgb";
+				body.header.frame_id =  ros::this_node::getNamespace() + "/rgb";
 				body.leanTrackingState = jsonObject[i]["LeanTrackingState"].asInt();
 				body.lean.leanX = jsonObject[i]["Lean"]["X"].asDouble();
 				body.lean.leanY = jsonObject[i]["Lean"]["Y"].asDouble();

src/startDepth.cpp

@@ -29,7 +29,7 @@ WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
 
 int imageSize = 434176;
 int streamSize = imageSize + sizeof(double);
-std::string cameraName = "kinect2/depth";
+std::string cameraName = "depth";
 std::string imageTopicSubName = "image_depth";
 std::string cameraInfoSubName = "camera_info";
 
@@ -56,7 +56,7 @@ int main(int argC,char **argV)
 		double utcTime;
 		memcpy(&utcTime,&mySocket.mBuffer[imageSize],sizeof(double));
 		cvImage.header.stamp = ros::Time(utcTime);
-		cvImage.header.frame_id = "/head/kinect2/depthFrame";
+		cvImage.header.frame_id =  ros::this_node::getNamespace() + "/depthFrame";
 		cvImage.encoding = "mono16";
 		cvImage.image = frame;
 		cvImage.toImageMsg(rosImage);

src/startIR.cpp

@@ -29,7 +29,7 @@ WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
 
 int imageSize = 434176;
 int streamSize = imageSize + sizeof(double);
-std::string cameraName = "kinect2/ir";
+std::string cameraName = "ir";
 std::string imageTopicSubName = "image_ir";
 std::string cameraInfoSubName = "camera_info";
 
@@ -56,7 +56,7 @@ int main(int argC,char **argV)
 		double utcTime;
 		memcpy(&utcTime,&mySocket.mBuffer[imageSize],sizeof(double));
 		cvImage.header.stamp = ros::Time(utcTime);
-		cvImage.header.frame_id = "/head/kinect2/irFrame";
+		cvImage.header.frame_id =  ros::this_node::getNamespace() + "/irFrame";
 		cvImage.encoding = "mono16";
 		cvImage.image = frame;
 		cvImage.toImageMsg(rosImage);

src/startRGB.cpp

@@ -29,7 +29,7 @@ WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
 
 int imageSize = 8294400;
 int streamSize = imageSize + sizeof(double);
-std::string cameraName = "kinect2/rgb";
+std::string cameraName = "rgb";
 std::string imageTopicSubName = "image_color";
 std::string cameraInfoSubName = "camera_info";
 
@@ -56,7 +56,7 @@ int main(int argC,char **argV)
 		double utcTime;
 		memcpy(&utcTime,&mySocket.mBuffer[imageSize],sizeof(double));
 		cvImage.header.stamp = ros::Time(utcTime);
-		cvImage.header.frame_id = "/head/kinect2/colorFrame";
+		cvImage.header.frame_id =  ros::this_node::getNamespace() + "/colorFrame";
 		cvImage.encoding = "bgra8";
 		cvImage.image = frame;
 		cvImage.toImageMsg(rosImage);