Add package to publishers @problem::autosetup

include/core/yaml/parser_yaml.h

@@ -30,6 +30,7 @@ class ParserYAML {
         YAML::Node n_;
     };
     struct PublisherManager{
+        std::string package_;
         std::string subscriber_;
         std::string topic_;
         std::string period_;

src/problem/problem.cpp

@@ -129,6 +129,13 @@ ProblemPtr Problem::autoSetup(ParamsServer &_server)
         l->load();
         loaders.push_back(l);
     }
+    for (auto it : _server.getParam<std::vector<std::string>>("packages")) {
+        std::string subscriber = packages_path + "/libpublisher_" + it + lib_extension;
+        WOLF_TRACE("Loading publisher " + subscriber);
+        auto l = new LoaderRaw(subscriber);
+        l->load();
+        loaders.push_back(l);
+    }
     std::vector<std::string> raw_libs;
     try {
         raw_libs = _server.getParam<std::vector<std::string>>("raw_libs");

src/yaml/parser_yaml.cpp

@@ -430,12 +430,12 @@ void ParserYAML::parseFirstLevel(std::string _file)
     {
         for (const auto& kv : n_config["ROS publisher"])
         {
-            WOLF_DEBUG("WHAT");
             PublisherManager pPublisherManager = {
-                kv["type"].Scalar(), kv["topic"].Scalar(), kv["period"].Scalar(), kv
+            kv["package"].Scalar(), kv["type"].Scalar(), kv["topic"].Scalar(), kv["period"].Scalar(), kv
             };
             publisher_managers_.push_back(pPublisherManager);
-            map_container.push_back(std::map<std::string, std::string>({ { "type", kv["type"].Scalar() },
+            map_container.push_back(std::map<std::string, std::string>({ { "package", kv["package"].Scalar() },
+                                                                         { "type", kv["type"].Scalar() },
                                                                          { "topic", kv["topic"].Scalar() },
                                                                          { "period", kv["period"].Scalar() } }));
         }
@@ -445,7 +445,7 @@ void ParserYAML::parseFirstLevel(std::string _file)
     catch (YAML::InvalidNode& e)
     {
         throw std::runtime_error("Error parsing publisher @" + generatePath(_file) +
-                                 ". Please make sure that each manager has 'type', 'topic' and 'period' entries.");
+                                 ". Please make sure that each manager has 'package', 'type', 'topic' and 'period' entries.");
     }
 }
 std::map<std::string, std::string> ParserYAML::getParams()
@@ -482,6 +482,8 @@ void ParserYAML::parse()
         plugins.push_back(it.plugin_);
     for (const auto& it : subscriber_managers_)
         packages.push_back(it.package_);
+    for (const auto& it : publisher_managers_)
+        packages.push_back(it.package_);
     plugins.sort();
     plugins.unique();
     packages.sort();