From e75a275abac53d723426b225b38e03880176f0a6 Mon Sep 17 00:00:00 2001
From: Timothy Wiley <timothyw@cse.unsw.edu.au>
Date: Fri, 10 Mar 2017 11:06:57 +1100
Subject: [PATCH] Command lister may choose to ignore global namespace

---
 crosbot/include/crosbot/controls/command.hpp | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/crosbot/include/crosbot/controls/command.hpp b/crosbot/include/crosbot/controls/command.hpp
index d0664c3..d5aa972 100644
--- a/crosbot/include/crosbot/controls/command.hpp
+++ b/crosbot/include/crosbot/controls/command.hpp
@@ -43,9 +43,10 @@ private:
 
     bool send;
     bool receive;
+    bool listenGlobal;      // Listen to commands on global namespace
 
     void _callback_receivedCommand(const crosbot_msgs::ControlCommandPtr command) {
-        if (command->cmd_namespace == "" ||
+        if ((listenGlobal && command->cmd_namespace == "") ||
             command->cmd_namespace == nspace) {
             callback->callback_receivedCommand(command);
         }
@@ -82,11 +83,13 @@ public:
      */
     CrosbotCommand(crosbot_msgs::ControlCommand::_cmd_namespace_type nspace = "",
             bool send = false,
-            CrosbotCommandCallbackPtr callback = NULL) :
+            CrosbotCommandCallbackPtr callback = NULL,
+            bool listenGlobal = true) :
         send(send),
         receive(false),
         nspace(nspace),
-        callback(callback)
+        callback(callback),
+        listenGlobal(listenGlobal)
     {
         // Node handle with "root" namespace
         ros::NodeHandle nh("");
-- 
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