From adb34f045172ca11a78eee2f8d5fecd6c27dc322 Mon Sep 17 00:00:00 2001
From: Roland Arsenault <roland@ccom.unh.edu>
Date: Tue, 15 Aug 2023 14:38:22 -0400
Subject: [PATCH] Set the robot bridge name

---
 launch/operator_core.launch | 1 +
 launch/robot_core.launch    | 2 ++
 2 files changed, 3 insertions(+)

diff --git a/launch/operator_core.launch b/launch/operator_core.launch
index f917433..be40325 100644
--- a/launch/operator_core.launch
+++ b/launch/operator_core.launch
@@ -12,6 +12,7 @@
   <node if="$(arg enableBridge)" pkg="udp_bridge" type="udp_bridge_node" name="udp_bridge" ns="$(arg namespace)">
     <param name="port" value="$(arg localPort)"/>
   </node>
+  <rosparam param="udp_bridge/remotes/robot/name" ns="$(arg namespace)" subst_value="True">"$(arg robotNamespace)"</rosparam>
 
   <!-- Command bridge is used to robustly send operator commands over an unreliable connection. -->
   <node pkg="command_bridge" type="command_bridge_sender_node.py" name="command_bridge_sender" ns="$(arg robotNamespace)"/>
diff --git a/launch/robot_core.launch b/launch/robot_core.launch
index e0cc5bd..19745d7 100644
--- a/launch/robot_core.launch
+++ b/launch/robot_core.launch
@@ -4,12 +4,14 @@
   <arg name="localPort" default="4200"/>
   <arg name="default_nav_stack" default="true"/>
   <arg name="odom_topic" default="project11/odom"/>
+  <arg name="bridge_name" default="$(arg namespace)"/>
 
   <rosparam command="load" file="$(find project11)/config/robot.yaml" ns="$(arg namespace)"/>
 
   <!-- The udp_bridge_node is what sends and receives messages from select topics to the operator. -->
   <node if="$(arg enableBridge)" pkg="udp_bridge" type="udp_bridge_node" name="udp_bridge" ns="$(arg namespace)">
     <param name="port" value="$(arg localPort)"/>
+    <param name="name" value="$(arg bridge_name)"/>
   </node>
     
   <!-- Command bridge is used to robustly send operator commands over an unreliable connection. -->