From 33da8feae1e4ca4ac4cec1de391f651639ccbbcc Mon Sep 17 00:00:00 2001
From: Tamaki Nishino <otamachan@gmail.com>
Date: Wed, 12 Jun 2024 08:49:16 +0900
Subject: [PATCH] Use topic_name for get_costmap service (#4420)

Signed-off-by: Tamaki Nishino <otamachan@gmail.com>
---
 nav2_costmap_2d/src/costmap_2d_publisher.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nav2_costmap_2d/src/costmap_2d_publisher.cpp b/nav2_costmap_2d/src/costmap_2d_publisher.cpp
index 58c7d43d56..a713ace130 100644
--- a/nav2_costmap_2d/src/costmap_2d_publisher.cpp
+++ b/nav2_costmap_2d/src/costmap_2d_publisher.cpp
@@ -81,7 +81,7 @@ Costmap2DPublisher::Costmap2DPublisher(
 
   // Create a service that will use the callback function to handle requests.
   costmap_service_ = node->create_service<nav2_msgs::srv::GetCostmap>(
-    "get_costmap", std::bind(
+    "get_" + topic_name, std::bind(
       &Costmap2DPublisher::costmap_service_callback,
       this, std::placeholders::_1, std::placeholders::_2,
       std::placeholders::_3));