Adding -r and --ros-args where needed.

nav2_bt_navigator/src/bt_navigator.cpp

@@ -47,7 +47,7 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/)
 
   auto options = rclcpp::NodeOptions().arguments(
     {"--ros-args",
-      std::string("__node:=") + get_name() + "_client_node",
+      "-r", std::string("__node:=") + get_name() + "_client_node",
       "--"});
   // Support for handling the topic-based goal pose from rviz
   client_node_ = std::make_shared<rclcpp::Node>("_", options);

nav2_costmap_2d/src/costmap_2d_ros.cpp

@@ -64,7 +64,7 @@ Costmap2DROS::Costmap2DROS(const std::string & name, const std::string & absolut
 {
   RCLCPP_INFO(get_logger(), "Creating Costmap");
   auto options = rclcpp::NodeOptions().arguments(
-    {"--ros-args", std::string("__node:=") + get_name() + "_client", "--"});
+    {"--ros-args", "-r", std::string("__node:=") + get_name() + "_client", "--"});
   client_node_ = std::make_shared<rclcpp::Node>("_", options);
 
   std::vector<std::string> plugin_names{"static_layer", "obstacle_layer", "inflation_layer"};

nav2_lifecycle_manager/src/lifecycle_manager.cpp

@@ -52,7 +52,7 @@ LifecycleManager::LifecycleManager()
       std::bind(&LifecycleManager::managerCallback, this, _1, _2, _3));
 
   auto options = rclcpp::NodeOptions().arguments(
-    {"--ros-args", std::string("__node:=") + get_name() + "service_client", "--"});
+    {"--ros-args", "-r", std::string("__node:=") + get_name() + "service_client", "--"});
   service_client_node_ = std::make_shared<rclcpp::Node>("_", options);
 
   transition_state_map_[Transition::TRANSITION_CONFIGURE] = State::PRIMARY_STATE_INACTIVE;

nav2_util/src/lifecycle_node.cpp

@@ -50,6 +50,7 @@ LifecycleNode::LifecycleNode(
   if (use_rclcpp_node_) {
     std::vector<std::string> new_args = options.arguments();
     new_args.push_back("--ros-args");
+    new_args.push_back("-r");
     new_args.push_back(std::string("__node:=") + this->get_name() + "_rclcpp_node");
     new_args.push_back("--");
     rclcpp_node_ = std::make_shared<rclcpp::Node>(

nav2_util/src/node_utils.cpp

@@ -82,7 +82,7 @@ rclcpp::Node::SharedPtr generate_internal_node(const std::string & prefix)
     rclcpp::NodeOptions()
     .start_parameter_services(false)
     .start_parameter_event_publisher(false)
-    .arguments({"--ros-args", "__node:=" + generate_internal_node_name(prefix), "--"});
+    .arguments({"--ros-args", "-r", "__node:=" + generate_internal_node_name(prefix), "--"});
   return rclcpp::Node::make_shared("_", options);
 }