Merge pull request #48 from clearpathrobotics/sensor-get-topic

Give option to get topic without namespace
clearpathrobotics · Jan 10, 2024 · 1efa7dc · 1efa7dc
2 parents 195b7ae + 43ef0fe
commit 1efa7dc
Showing 1 changed file with 6 additions and 3 deletions.
diff --git a/clearpath_config/sensors/types/sensor.py b/clearpath_config/sensors/types/sensor.py
@@ -143,12 +143,15 @@ def set_idx(self, idx: int) -> None:
         super().set_idx(idx)
         self.topic = self.get_topic_from_idx(idx)
 
-    def get_topic(self, topic: str) -> str:
+    def get_topic(self, topic: str, local=False) -> str:
         assert topic in self.TOPICS.NAME, (
             "Topic must be one of %s" % [i for i in self.TOPICS.NAME]
         )
-        ns = BaseConfig.get_namespace()
-        return os.path.join(ns, "sensors", self.name, self.TOPICS.NAME[topic])
+        if local:
+            return os.path.join("sensors", self.name, self.TOPICS.NAME[topic])
+        else:
+            ns = BaseConfig.get_namespace()
+            return os.path.join(ns, "sensors", self.name, self.TOPICS.NAME[topic])
 
     def get_topic_rate(self, topic: str) -> float:
         assert topic in self.TOPICS.RATE, (