Add initial_topic_ variable to avoid confusion

This addresses comment #106 (comment) Signed-off-by: Rufus Wong <[email protected]>
ros-tooling · Jun 13, 2024 · 867567e · 867567e
1 parent 31f49ae
commit 867567e
Show file tree

Hide file tree

Showing 4 changed files with 10 additions and 6 deletions.
diff --git a/topic_tools/include/topic_tools/demux_node.hpp b/topic_tools/include/topic_tools/demux_node.hpp
@@ -54,6 +54,7 @@ class DemuxNode final : public ToolBaseNode
     const std::shared_ptr<topic_tools_interfaces::srv::DemuxSelect::Request> request,
     std::shared_ptr<topic_tools_interfaces::srv::DemuxSelect::Response> response);
 
+  std::string initial_topic_;
   std::vector<std::string> output_topics_;
   rclcpp::Service<topic_tools_interfaces::srv::DemuxAdd>::SharedPtr demux_add_srv_;
   rclcpp::Service<topic_tools_interfaces::srv::DemuxDelete>::SharedPtr demux_delete_srv_;

diff --git a/topic_tools/include/topic_tools/mux_node.hpp b/topic_tools/include/topic_tools/mux_node.hpp
@@ -54,6 +54,7 @@ class MuxNode final : public ToolBaseNode
     const std::shared_ptr<topic_tools_interfaces::srv::MuxSelect::Request> request,
     std::shared_ptr<topic_tools_interfaces::srv::MuxSelect::Response> response);
 
+  std::string initial_topic_;
   std::vector<std::string> input_topics_;
   rclcpp::Service<topic_tools_interfaces::srv::MuxAdd>::SharedPtr mux_add_srv_;
   rclcpp::Service<topic_tools_interfaces::srv::MuxDelete>::SharedPtr mux_delete_srv_;

diff --git a/topic_tools/src/demux_node.cpp b/topic_tools/src/demux_node.cpp
@@ -30,13 +30,14 @@ DemuxNode::DemuxNode(const rclcpp::NodeOptions & options)
   using std::placeholders::_1;
   using std::placeholders::_2;
 
-  output_topic_ = declare_parameter("initial_topic", "");
+  initial_topic_ = declare_parameter("initial_topic", "");
   input_topic_ = declare_parameter("input_topic", "~/input");
   lazy_ = false;
   output_topics_ = declare_parameter<std::vector<std::string>>("output_topics");
-  if (output_topic_.empty()) {
-    output_topic_ = output_topics_.front();
+  if (initial_topic_.empty()) {
+    initial_topic_ = output_topics_.front();
   }
+  output_topic_ = initial_topic_;
 
   discovery_timer_ = this->create_wall_timer(
     discovery_period_, std::bind(&DemuxNode::make_subscribe_unsubscribe_decisions, this));

diff --git a/topic_tools/src/mux_node.cpp b/topic_tools/src/mux_node.cpp
@@ -29,13 +29,14 @@ MuxNode::MuxNode(const rclcpp::NodeOptions & options)
   using std::placeholders::_1;
   using std::placeholders::_2;
 
-  input_topic_ = declare_parameter("initial_topic", "");
+  initial_topic_ = declare_parameter("initial_topic", "");
   output_topic_ = declare_parameter("output_topic", "~/selected");
   lazy_ = declare_parameter<bool>("lazy", false);
   input_topics_ = declare_parameter<std::vector<std::string>>("input_topics");
-  if (input_topic_.empty()) {
-    input_topic_ = input_topics_.front();
+  if (initial_topic_.empty()) {
+    initial_topic_ = input_topics_.front();
   }
+  input_topic_ = initial_topic_;
 
   discovery_timer_ = this->create_wall_timer(
     discovery_period_,