/** * Create NodeConfiguration according to ROS command-line and environment * specification. */ public NodeConfiguration build() { parseRemappingArguments(); // TODO(damonkohler): Add support for starting up a private node. NodeConfiguration nodeConfiguration = NodeConfiguration.newPublic(getHost()); nodeConfiguration.setParentResolver(buildParentResolver()); nodeConfiguration.setRosRoot(getRosRoot()); nodeConfiguration.setRosPackagePath(getRosPackagePath()); nodeConfiguration.setMasterUri(getMasterUri()); if (specialRemappings.containsKey(CommandLineVariables.NODE_NAME)) { nodeConfiguration.setNodeName(specialRemappings.get(CommandLineVariables.NODE_NAME)); } return nodeConfiguration; }