Allow nodelets to run under a given namespace

gistfile1.txt

diff -r 7126145eb885 launch/kinect_frames.launch
--- a/launch/kinect_frames.launch  Tue Dec 11 11:23:14 2012 -0800
+++ b/launch/kinect_frames.launch	Sat Jan 05 19:33:48 2013 +0530
@@ -9,13 +9,13 @@
   <arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
 
   <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link"
-        args="0 -0.02  0 0 0 0  /$(arg camera)_link /$(arg camera)_depth_frame 100" />  
+        args="0 -0.02  0 0 0 0 $(arg camera)_link $(arg camera)_depth_frame 100" />  
   <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link1"
-        args="0 -0.045 0 0 0 0  /$(arg camera)_link /$(arg camera)_rgb_frame 100" />  
+        args="0 -0.045 0 0 0 0  $(arg camera)_link $(arg camera)_rgb_frame 100" />  
   <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link2"
-        args="$(arg optical_rotate) /$(arg camera)_depth_frame /$(arg camera)_depth_optical_frame  100" />  
+        args="$(arg optical_rotate) $(arg camera)_depth_frame $(arg camera)_depth_optical_frame  100" />  
   <node pkg="tf" type="static_transform_publisher" name="$(arg camera)_base_link3"
-        args="$(arg optical_rotate) /$(arg camera)_rgb_frame /$(arg camera)_rgb_optical_frame 100" />  
+        args="$(arg optical_rotate) $(arg camera)_rgb_frame $(arg camera)_rgb_optical_frame 100" />  
 </launch>
 
 <!-- TODO Could instead store these in camera_pose_calibration format for consistency
diff -r 7126145eb885 launch/openni.launch
--- a/launch/openni.launch	Tue Dec 11 11:23:14 2012 -0800
+++ b/launch/openni.launch	Sat Jan 05 19:33:48 2013 +0530
@@ -3,9 +3,11 @@
 
   <!-- "camera" should uniquely identify the device. All topics are pushed down
        into the "camera" namespace, and it is prepended to tf frame ids. -->
+  <arg name="ns" default="" /> <!-- if supplied, then should be fully resolved -->
+  <arg name="tf_prefix" default="$(arg ns)" />
   <arg name="camera" default="camera" />
-  <arg name="rgb_frame_id"   default="/$(arg camera)_rgb_optical_frame" />
-  <arg name="depth_frame_id" default="/$(arg camera)_depth_optical_frame" />
+  <arg name="rgb_frame_id"   default="$(arg tf_prefix)/$(arg camera)_rgb_optical_frame" />
+  <arg name="depth_frame_id" default="$(arg tf_prefix)/$(arg camera)_depth_optical_frame" />
 
   <!-- device_id can have the following formats:
          "B00367707227042B": Use device with given serial number
@@ -41,7 +43,7 @@
   <arg name="bond" default="false" /> <!-- DEPRECATED, use respawn arg instead -->
   <arg name="respawn" default="$(arg bond)" />
 
-  <!-- Start nodelet manager in top-level namespace -->
+  <!-- Start nodelet manager in provided namespace -->
   <arg name="manager" value="$(arg camera)_nodelet_manager" />
   <arg name="debug" default="false" /> <!-- Run manager in GDB? -->
   <include file="$(find openni_launch)/launch/includes/manager.launch">
@@ -49,6 +51,9 @@
     <arg name="debug" value="$(arg debug)" />
   </include>
 
+  <!-- figure out the resolved nodelet manager namespace -->
+  <arg name="resolved_manager" value="$(arg ns)/$(arg manager)" />
+
   <!-- Push down all topics/nodelets into "camera" namespace -->
   <group ns="$(arg camera)">
 
@@ -56,7 +61,7 @@
     <include if="$(arg load_driver)"
 	     file="$(find openni_launch)/launch/includes/device.launch">
       <!-- Could really use some syntactic sugar for this -->
-      <arg name="manager"               value="/$(arg manager)" /> <!-- Fully resolved -->
+      <arg name="manager"               value="$(arg resolved_manager)" /> <!-- fully resolved -->
       <arg name="device_id"             value="$(arg device_id)" />
       <arg name="rgb_frame_id"          value="$(arg rgb_frame_id)" />
       <arg name="depth_frame_id"        value="$(arg depth_frame_id)" />
@@ -73,7 +78,7 @@
 
     <!-- Load standard constellation of processing nodelets -->
     <include file="$(find openni_launch)/launch/includes/processing.launch">
-      <arg name="manager"               value="/$(arg manager)" /> <!-- Fully resolved -->
+      <arg name="manager"               value="$(arg resolved_manager)" /> <!-- Fully resolved -->
       <arg name="rgb"                   value="$(arg rgb)" />
       <arg name="ir"                    value="$(arg ir)" />
       <arg name="depth"                 value="$(arg depth)" />
@@ -85,6 +90,7 @@
   </group> <!-- camera -->
 
   <!-- Load reasonable defaults for the relative pose between cameras -->
+  <param name="tf_prefix" value="$(arg tf_prefix)" /> <!-- for static transform publisher -->
   <include if="$(arg publish_tf)"
 	   file="$(find openni_launch)/launch/kinect_frames.launch">
     <arg name="camera" value="$(arg camera)" />