From f53738aa1430de764d0c2c1c23afbc32239c13d1 Mon Sep 17 00:00:00 2001
From: Tom Creutz <tcreutz97@gmail.com>
Date: Wed, 27 Nov 2024 15:44:20 +0100
Subject: [PATCH] Set UnderwaterCamera ros node name by sdf sensor name

---
 .../src/UnderwaterCamera.cc                       | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/gazebo/dave_gz_sensor_plugins/src/UnderwaterCamera.cc b/gazebo/dave_gz_sensor_plugins/src/UnderwaterCamera.cc
index 230bcfa8..6618de5e 100644
--- a/gazebo/dave_gz_sensor_plugins/src/UnderwaterCamera.cc
+++ b/gazebo/dave_gz_sensor_plugins/src/UnderwaterCamera.cc
@@ -104,13 +104,6 @@ void UnderwaterCamera::Configure(
   gzdbg << "dave_gz_sensor_plugins::UnderwaterCamera::Configure on entity: " << _entity
         << std::endl;
 
-  if (!rclcpp::ok())
-  {
-    rclcpp::init(0, nullptr);
-  }
-
-  this->ros_node_ = std::make_shared<rclcpp::Node>("underwater_camera_node");
-
   auto rgbdCamera = _ecm.Component<gz::sim::components::RgbdCamera>(_entity);
   if (!rgbdCamera)
   {
@@ -133,6 +126,14 @@ void UnderwaterCamera::Configure(
     return;
   }
 
+  if (!rclcpp::ok())
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  std::string rosNodeName = sensorSdf.Name() + "_node";
+  this->ros_node_ = std::make_shared<rclcpp::Node>(rosNodeName);
+
   if (this->dataPtr->topic.empty())
   {
     auto scoped = gz::sim::scopedName(_entity, _ecm);