From 044c39853402e74453374ff57e725d68c882eda6 Mon Sep 17 00:00:00 2001
From: Ayush Ghosh <ayushghosh21@gmail.com>
Date: Thu, 4 May 2023 20:27:10 -0400
Subject: [PATCH] Added support for custom parameter bridge node names

Signed-off-by: Ayush Ghosh <ayushghosh21@gmail.com>
---
 src/parameter_bridge.cpp | 19 +++++++++++++++----
 1 file changed, 15 insertions(+), 4 deletions(-)

diff --git a/src/parameter_bridge.cpp b/src/parameter_bridge.cpp
index f4f4bd76..d2ce79a9 100644
--- a/src/parameter_bridge.cpp
+++ b/src/parameter_bridge.cpp
@@ -33,14 +33,25 @@
 
 int main(int argc, char * argv[])
 {
-  // ROS 1 node
-  ros::init(argc, argv, "ros_bridge");
-  ros::NodeHandle ros1_node;
-
   // ROS 2 node
   rclcpp::init(argc, argv);
   auto ros2_node = rclcpp::Node::make_shared("ros_bridge");
 
+
+  if (argc == 4) {
+    std::string argv_s = argv[argc-1];
+
+    std::string delimiter = "__node:=";
+    argv_s.erase(0, delimiter.length());
+    argv_s.insert(0, "__name:=");
+    strcpy(argv[0], argv_s.c_str());
+    argc = 1;
+  }
+  
+  // ROS 1 node
+  ros::init(argc, argv, "ros_bridge");
+  ros::NodeHandle ros1_node;
+
   std::list<ros1_bridge::BridgeHandles> all_handles;
   std::list<ros1_bridge::ServiceBridge1to2> service_bridges_1_to_2;
   std::list<ros1_bridge::ServiceBridge2to1> service_bridges_2_to_1;