[nav2_lifecycle_manager] Support namespaced LifecycleManagers (#2309)

* remove '/' from node name

* add namespace argument

* use namespace for service client node creation

* ns instead of namespace_

* const

* ns instead of namespace_ in lifecycle_node too

* lint

nav2_lifecycle_manager/include/nav2_lifecycle_manager/lifecycle_manager_client.hpp

@@ -45,7 +45,7 @@ public:
   /**
    * @brief A constructor for LifeCycleMangerClient
    */
-  explicit LifecycleManagerClient(const std::string & name);
+  explicit LifecycleManagerClient(const std::string & name, const std::string & ns = "");
 
   // Client-side interface to the Nav2 lifecycle manager
   /**

nav2_lifecycle_manager/src/lifecycle_manager_client.cpp

@@ -26,13 +26,15 @@ namespace nav2_lifecycle_manager
 {
 using nav2_util::geometry_utils::orientationAroundZAxis;
 
-LifecycleManagerClient::LifecycleManagerClient(const std::string & name)
+LifecycleManagerClient::LifecycleManagerClient(
+  const std::string & name,
+  const std::string & ns)
 {
   manage_service_name_ = name + std::string("/manage_nodes");
   active_service_name_ = name + std::string("/is_active");
 
   // Create the node to use for all of the service clients
-  node_ = std::make_shared<rclcpp::Node>(name + "_service_client");
+  node_ = std::make_shared<rclcpp::Node>(name + "_service_client", ns);
 
   // Create the service clients
   manager_client_ = node_->create_client<ManageLifecycleNodes>(manage_service_name_);

nav2_util/include/nav2_util/lifecycle_node.hpp

@@ -52,7 +52,7 @@ public:
    */
   LifecycleNode(
     const std::string & node_name,
-    const std::string & namespace_ = "",
+    const std::string & ns = "",
     bool use_rclcpp_node = false,
     const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
   virtual ~LifecycleNode();

nav2_util/src/lifecycle_node.cpp

@@ -42,9 +42,9 @@ namespace nav2_util
 
 LifecycleNode::LifecycleNode(
   const std::string & node_name,
-  const std::string & namespace_, bool use_rclcpp_node,
+  const std::string & ns, bool use_rclcpp_node,
   const rclcpp::NodeOptions & options)
-: rclcpp_lifecycle::LifecycleNode(node_name, namespace_, options),
+: rclcpp_lifecycle::LifecycleNode(node_name, ns, options),
   use_rclcpp_node_(use_rclcpp_node)
 {
   // server side never times out from lifecycle manager
@@ -60,7 +60,7 @@ LifecycleNode::LifecycleNode(
     new_args.push_back(std::string("__node:=") + this->get_name() + "_rclcpp_node");
     new_args.push_back("--");
     rclcpp_node_ = std::make_shared<rclcpp::Node>(
-      "_", namespace_, rclcpp::NodeOptions(options).arguments(new_args));
+      "_", ns, rclcpp::NodeOptions(options).arguments(new_args));
     rclcpp_thread_ = std::make_unique<NodeThread>(rclcpp_node_);
   }