Adapted toreceive an empty name

include/iri_nav_module/nav_module.h

 #ifndef _NAV_MODULE_H
 #define _NAV_MODULE_H
 
+#include<ctype.h>
+
 // IRI ROS headers
 #include <iri_ros_tools/module.h>
 #include <iri_ros_tools/module_action.h>
@@ -847,56 +849,63 @@ class CNavModule : public CModule<ModuleCfg>
 
     params=ModuleCfg::__getParamDescriptions__();
 
-    CModule<ModuleCfg>::dynamic_reconfigure(config,name+"_module");
-    this->move_base_action.dynamic_reconfigure(config,name+"_move_base");
-    this->make_plan_service.dynamic_reconfigure(config,name+"_make_plan");
-    this->clear_costmaps.dynamic_reconfigure(config,name+"_clear_costmap");
+    std::string prefix;
+
+    if (name.length() == 0)
+      prefix = "";
+    else
+      prefix = name + "_";
+
+    CModule<ModuleCfg>::dynamic_reconfigure(config,prefix+"module");
+    this->move_base_action.dynamic_reconfigure(config,prefix+"move_base");
+    this->make_plan_service.dynamic_reconfigure(config,prefix+"make_plan");
+    this->clear_costmaps.dynamic_reconfigure(config,prefix+"clear_costmap");
 
     for(typename std::vector<typename ModuleCfg::AbstractParamDescriptionConstPtr>::iterator param=params.begin();param!=params.end();param++)
     {
-      if((*param)->name==(name+"_move_base_goal_frame_id"))
+      if((*param)->name==(prefix+"move_base_goal_frame_id"))
       {
         (*param)->getValue(config,value);
         if(value.type()==typeid(std::string))
           this->goal_frame_id=boost::any_cast<std::string &>(value);
       }
-      else if((*param)->name==(name+"_move_base_global_frame_id"))
+      else if((*param)->name==(prefix+"move_base_global_frame_id"))
       {
         (*param)->getValue(config,value);
         if(value.type()==typeid(std::string))
           this->global_frame_id=boost::any_cast<std::string &>(value);
       }
-      else if((*param)->name==(name+"_move_base_robot_frame_id"))
+      else if((*param)->name==(prefix+"move_base_robot_frame_id"))
       {
         (*param)->getValue(config,value);
         if(value.type()==typeid(std::string))
           this->robot_frame_id=boost::any_cast<std::string &>(value);
       }
-      else if((*param)->name==(name+"_move_base_cancel_prev"))
+      else if((*param)->name==(prefix+"move_base_cancel_prev"))
       {
         (*param)->getValue(config,value);
         if(value.type()==typeid(bool))
           this->move_base_cancel_prev=boost::any_cast<bool &>(value);
       }
-      else if((*param)->name==(name+"_odom_watchdog_time_s"))
+      else if((*param)->name==(prefix+"odom_watchdog_time_s"))
       {
         (*param)->getValue(config,value);
         if(value.type()==typeid(double))
           this->odom_watchdog_time_s=boost::any_cast<double &>(value);
       }
-      else if((*param)->name==(name+"_tf_timeout_time_s"))
+      else if((*param)->name==(prefix+"tf_timeout_time_s"))
       {
         (*param)->getValue(config,value);
         if(value.type()==typeid(double))
           this->tf_timeout_time_s=boost::any_cast<double &>(value);
       }
-      else if((*param)->name==(name+"_clear_costmap_auto_clear_rate_hz"))
+      else if((*param)->name==(prefix+"clear_costmap_auto_clear_rate_hz"))
       {
         (*param)->getValue(config,value);
         if(value.type()==typeid(double))
           this->auto_clear_rate_hz=boost::any_cast<double &>(value);
       }
-      else if((*param)->name==(name+"_clear_costmap_enable_auto_clear"))
+      else if((*param)->name==(prefix+"clear_costmap_enable_auto_clear"))
       {
         (*param)->getValue(config,value);
         if(value.type()==typeid(bool))

src/iri_nav_module/dyn_params.py

@@ -4,36 +4,47 @@ from iri_ros_tools.dyn_params import add_module_service_params,add_module_action
 
 def add_nav_module_params(gen,name):
 
-  new_group = gen.add_group(name)
+  if len(name) == 0:
+    new_group = gen.add_group("nav")
+    prefix = ""
+  else:
+    new_group = gen.add_group(name)
+    prefix = name + "_"
+  
 
-  odom = new_group.add_group(name+"_Odometry")
-  tf = new_group.add_group(name+"_TF")
+  odom = new_group.add_group(prefix+"Odometry")
+  tf = new_group.add_group(prefix+"TF")
 
-  add_module_params(new_group,name+"_module")
+  add_module_params(new_group,prefix+"module")
 
-  move_base_action=add_module_action_params(new_group,name+"_move_base")
-  move_base_action.add(name+"_move_base_goal_frame_id",str_t,                   0,                     "Reference frame of the position goals","map")
-  move_base_action.add(name+"_move_base_global_frame_id",str_t,                   0,                     "Global reference frame of the TF","map")
-  move_base_action.add(name+"_move_base_robot_frame_id",str_t,                   0,                     "Main reference frame of the robot","map")
-  move_base_action.add(name+"_move_base_cancel_prev", bool_t,              0,                     "Cancel previous action",         True)
+  move_base_action=add_module_action_params(new_group,prefix+"move_base")
+  move_base_action.add(prefix+"move_base_goal_frame_id",str_t,                   0,                     "Reference frame of the position goals","map")
+  move_base_action.add(prefix+"move_base_global_frame_id",str_t,                   0,                     "Global reference frame of the TF","map")
+  move_base_action.add(prefix+"move_base_robot_frame_id",str_t,                   0,                     "Main reference frame of the robot","map")
+  move_base_action.add(prefix+"move_base_cancel_prev", bool_t,              0,                     "Cancel previous action",         True)
 
-  odom.add(name+"_odom_watchdog_time_s",   double_t,                0,                     "Maximum time between odom messages",1,   0.01,    50)
+  odom.add(prefix+"odom_watchdog_time_s",   double_t,                0,                     "Maximum time between odom messages",1,   0.01,    50)
 
-  tf.add(name+"_tf_timeout_time_s",        double_t,                0,                     "Maximum time to wait for transform",5,   0.01,    50)
+  tf.add(prefix+"tf_timeout_time_s",        double_t,                0,                     "Maximum time to wait for transform",5,   0.01,    50)
 
-  costmap=add_module_service_params(new_group,name+"_clear_costmap")
-  costmap.add(name+"_clear_costmap_enable_auto_clear",bool_t,                  0,                     "Periodically clear the costmaps",False)
-  costmap.add(name+"_clear_costmap_auto_clear_rate_hz",double_t,               0,                     "Clear costmaps period",          0.1,    0.01,     1.0)
+  costmap=add_module_service_params(new_group,prefix+"clear_costmap")
+  costmap.add(prefix+"clear_costmap_enable_auto_clear",bool_t,                  0,                     "Periodically clear the costmaps",False)
+  costmap.add(prefix+"clear_costmap_auto_clear_rate_hz",double_t,               0,                     "Clear costmaps period",          0.1,    0.01,     1.0)
 
-  make_plan=add_module_service_params(new_group,name+"_make_plan")
+  make_plan=add_module_service_params(new_group,prefix+"make_plan")
 
   return new_group
 
 def add_opendrive_gp_module_params(gen,name):
 
-  new_group = gen.add_group(name)
+  if len(name) == 0:
+    prefix = "opendrive_gp"
+  else:
+    prefix = name
 
-  add_module_service_params(new_group,name+"_get_map")  
-  add_module_service_params(new_group,name+"_get_nodes")  
+  new_group = gen.add_group(prefix)
+
+  add_module_service_params(new_group,prefix+"_get_map")  
+  add_module_service_params(new_group,prefix+"_get_nodes")  
 
   return new_group