Multiple copters but both micro-ros-agents creating two /ap nodes

ArduCopter
1

Hi all,

My setup is: ros2 Humble + Gazebo Harmonic + Ardupilot + Mavros.
I created two ardupilot_sitl instances to simulate two copters in Gazebo. When it comes to micro-ros-agents, they both create two nodes with same name /ap. I could observe the following:

  1. In ardupilot/libraries/AP_DDS/AP_DDS_config.h, we have
    #ifndef AP_DDS_PARTICIPANT_NAME
    #define AP_DDS_PARTICIPANT_NAME “ap”
    #endif

  2. In ardupilot/libraries/AP_DDS/AP_DDS_Client.cpp, we have
    bool AP_DDS_Client::create()
    {
    WITH_SEMAPHORE(csem);
    // Participant
    const uxrObjectId participant_id = {
    .id = 0x01,
    .type = UXR_PARTICIPANT_ID
    };
    const char* participant_name = AP_DDS_PARTICIPANT_NAME;

So, is it hard coded? Can’t we have two namespaces to create two nodes such as /drone_1/ap and /drone_2/ap?

Thank you.