From 8a480a01ca1708f0e5445e1dc5442d74d8b18e7a Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Fri, 5 Feb 2021 16:15:25 +0900
Subject: [PATCH] fix dynamic_reconfigure namespace #53

related to https://github.com/ros-visualization/rqt_reconfigure/issues/92
---
 python/coral_usb/face_detector.py        | 5 ++++-
 python/coral_usb/human_pose_estimator.py | 6 +++++-
 python/coral_usb/object_detector.py      | 5 ++++-
 3 files changed, 13 insertions(+), 3 deletions(-)

diff --git a/python/coral_usb/face_detector.py b/python/coral_usb/face_detector.py
index 9d92ac1..a1a15fd 100644
--- a/python/coral_usb/face_detector.py
+++ b/python/coral_usb/face_detector.py
@@ -21,6 +21,9 @@ def __init__(self, namespace='~'):
         self.label_names = ['face']
 
         # dynamic reconfigure
+        dyn_namespace = namespace
+        if namespace == '~':
+            dyn_namespace = ''
         self.srv = Server(
             EdgeTPUFaceDetectorConfig,
-            self.config_callback, namespace=namespace)
+            self.config_callback, namespace=dyn_namespace)
diff --git a/python/coral_usb/human_pose_estimator.py b/python/coral_usb/human_pose_estimator.py
index 792da8b..588f599 100644
--- a/python/coral_usb/human_pose_estimator.py
+++ b/python/coral_usb/human_pose_estimator.py
@@ -83,8 +83,12 @@ def __init__(self, namespace='~'):
         self.label_names = ['human']
 
         # dynamic reconfigure
+        dyn_namespace = namespace
+        if namespace == '~':
+            dyn_namespace = ''
         self.srv = Server(
-            EdgeTPUHumanPoseEstimatorConfig, self.config_callback)
+            EdgeTPUHumanPoseEstimatorConfig,
+            self.config_callback, namespace=dyn_namespace)
 
         self.pub_pose = self.advertise(
             namespace + 'output/poses', PeoplePoseArray, queue_size=1)
diff --git a/python/coral_usb/object_detector.py b/python/coral_usb/object_detector.py
index cb53fc3..1317013 100644
--- a/python/coral_usb/object_detector.py
+++ b/python/coral_usb/object_detector.py
@@ -19,6 +19,9 @@ def __init__(self, namespace='~'):
             model_file, label_file, namespace)
 
         # dynamic reconfigure
+        dyn_namespace = namespace
+        if namespace == '~':
+            dyn_namespace = ''
         self.srv = Server(
             EdgeTPUObjectDetectorConfig,
-            self.config_callback, namespace=namespace)
+            self.config_callback, namespace=dyn_namespace)