From 9d3fbc63a0cfdc6766b426f848a7f8999217c60b Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Fri, 2 Jul 2021 09:51:40 +0200
Subject: [PATCH] Fix graph manager node namespaces (backport #72) (#73)

* Fix graph manager node namespaces (#72)

(cherry picked from commit a62330850541b80fdfb22fba40508eec7e1f3934)

# Conflicts:
#	micro_ros_agent/src/agent/graph_manager/graph_manager.cpp

* Update graph_manager.cpp

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
---
 .../src/agent/graph_manager/graph_manager.cpp | 32 +++++++++++++++++--
 1 file changed, 30 insertions(+), 2 deletions(-)

diff --git a/micro_ros_agent/src/agent/graph_manager/graph_manager.cpp b/micro_ros_agent/src/agent/graph_manager/graph_manager.cpp
index 8993576..0600ddb 100644
--- a/micro_ros_agent/src/agent/graph_manager/graph_manager.cpp
+++ b/micro_ros_agent/src/agent/graph_manager/graph_manager.cpp
@@ -309,8 +309,36 @@ void GraphManager::add_participant(
 
     if (node_name != enclave) // Do not add root node
     {
+        // Split node name in domain and node name
+        std::istringstream iss(node_name);
+        std::vector<std::string> result;
+        std::string token;
+
+        while(std::getline(iss, token, '/'))
+        {
+            result.push_back(token);
+        }
+
+        std::string isolated_node_name = "";
+        std::string isolated_namespace = "";
+
+        if (result.size() > 1)
+        {
+            isolated_namespace = result[0];
+            for (size_t i = 1; i < result.size(); i++)
+            {
+                isolated_node_name.append(result[i] + "/");
+            }
+            isolated_node_name.pop_back();
+        }
+        else
+        {
+            isolated_node_name = node_name;
+            isolated_namespace = "";
+        }
+
         rmw_dds_common::msg::ParticipantEntitiesInfo info =
-            graphCache_.add_node(gid, node_name, enclave_);
+            graphCache_.add_node(gid, isolated_node_name, isolated_namespace);
         ros_discovery_datawriter_->write(static_cast<void *>(&info));
     }
 }
@@ -684,4 +712,4 @@ void GraphManager::DatareaderListener::on_data_available(
 }  // namespace agent
 }  // namespace uros
 
-#endif  // _UROS_AGENT_GRAPH_MANAGER_CPP
\ No newline at end of file
+#endif  // _UROS_AGENT_GRAPH_MANAGER_CPP